Adds recorder manager in manager-based environments

[nvcyc]

Description

This PR adds a recorder manager (RecorderManager) and relevant utility classes for recording data produced in various reset and step stages in manager-based environments.

Wither the built-in recorder manager, users can create custom recorder terms in their environment configurations with callback functions returning tensors to be recorded as environments advance. It is particularly useful for implementing an app that collects human-operated demos and for those who want to record robot actions for post-validation/replay in Isaac Lab environments.

The recorder manager works in both single- and multi-environment use cases. An episode for an environment instance is exported to a dataset file, via a dataset file handler, upon completion (a termination term is signaled a reset to the environment instance is triggered).

By default, the recorder manager is inactive (by assigning no recorder terms in the default configuration), which should have minimal performance impact for existing apps that do not require data recording.

Type of change

• New feature (non-breaking change which adds functionality)
• This change requires a documentation update -- to be updated in later PRs

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

[kellyguo11]

test_episode_data.py test seems to be failing

[nvcyc]

Thanks for the reviews. Comments are addressed.

[jtigue-bdai]

Thanks for new feature. LGTM