WIP: RTX Lidar Support

[MoreTore]

Description

Added RTX lidar support for training and inference instances. This is a WIP but as its stands its working. Works in headless mode. Let me know if im on the right/wrong path.

Fixes #865

Type of change

• New feature (non-breaking change which adds functionality)
• This change requires a documentation update

Screenshots

Checklist

• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[MoreTore]

Disable debug draw when in --headless mode

[jtigue-bdai]

@MoreTore, thanks for taking a stab at this. It looks like its pretty functional. I know this feature is of interest across the community. Are you looking for support from the Isaac Lab team to get it integrated? If so I will be a likely point person for this.

There are a few ways we can help:

1. We can provide suggestions/reviews/requests for changes while you do most of the development.
2. We can handle most of the development while we keep you in the loop as a reviewer.

Feel free to reach out with questions or want to discuss.

[MoreTore]

@jtigue-bdai If you guys want to take this over that would be good. I do not actually need rtx lidar sensors at this point.

[jtigue-bdai]

@MoreTore thanks for letting us know. We will pick this up and add it to our list.

[shaoxiang]

Hello, Thank you very much for contributing this PR.
I tested this PR and found that the LiDAR point cloud displayed in debug does not match the scene.
Is this just a display problem?
Or is it a problem with the LiDAR update rate or does the point cloud need to be transformed?
Looking forward to getting a reply, thank you.
Here is a video:
https://github.com/user-attachments/assets/5dfa8d94-8d14-44ab-9071-ead13acc6a9a

[MoreTore]

Hello, Thank you very much for contributing this PR.
I tested this PR and found that the LiDAR point cloud displayed in debug does not match the scene.
Is this just a display problem?
Or is it a problem with the LiDAR update rate or does the point cloud need to be transformed?
Looking forward to getting a reply, thank you.
Here is a video:
https://github.com/user-attachments/assets/5dfa8d94-8d14-44ab-9071-ead13acc6a9a

I looks like it's just the refresh rate of the pointcloud and the debug draw points are persisting between updates in the same transform as they were captured.

[jtigue-bdai]

Closing this in favor of: PR 1372. Thanks for the starting point @MoreTore, please see the other PR for implementation.