Add visualizers and scene data provider#4

matthewtrepte wants to merge 46 commits into

ooctipus:develop_simulation_contextooctipus/IsaacLab:develop_simulation_contextfrom

matthewtrepte:feature/scene_data_provider_with_simulation_context_refactormatthewtrepte/IsaacLab:feature/scene_data_provider_with_simulation_context_refactorCopy head branch name to clipboard