[Feature] IsaacLab wrapper

[vmoens]

Stack from ghstack (oldest at bottom):

• -> [Feature] IsaacLab wrapper #2937

[pytorch-bot]

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🧪 See artifacts and rendered test results at hud.pytorch.org/pr/pytorch/rl/2937

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❗ 1 Active SEVs

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• CI workflows being skipped on PR

❌ 4 New Failures, 1 Cancelled Job, 1 Pending, 3 Unrelated Failures

As of commit ee4865a with merge base 3dbd84c ():

NEW FAILURES - The following jobs have failed:

• Continuous Benchmark (PR) / GPU Pytest benchmark (gh)
  Process completed with exit code 1.
• Habitat Tests on Linux / tests (3.9, 12.8) / linux-job (gh)
  RuntimeError: Command docker exec -t 1a1afe44b1040e64fb70743e63343da14d220f37fb6e61f0e9fa1ea7fcdfa332 /exec failed with exit code 1
• Lint / python-source-and-configs / linux-job (gh)
  RuntimeError: Command docker exec -t f2eacb961751f5fe98949e47e61d7b8d9d8b5421e2f1375db4002a636c87578b /exec failed with exit code 1
• Unit-tests on Linux / tests-cpu (3.12) / linux-job (gh)
  test/test_env.py::TestNonTensorEnv::test_parallel[False-False]

CANCELLED JOB - The following job was cancelled. Please retry:

• LLM Tests on Linux / unittests (3.9, 12.8) / linux-job (gh)

BROKEN TRUNK - The following jobs failed but were present on the merge base:

👉 Rebase onto the `viable/strict` branch to avoid these failures

• Libs Tests on Linux / unittests-gym (3.9, 12.8) / linux-job (gh) (trunk failure)
  test/test_libs.py::TestGym::test_gym_fake_td[True-False-3-HalfCheetah-v2]
• Unit-tests on Linux / tests-olddeps (3.9, 11.6) / linux-job (gh) (trunk failure)
  test/test_transforms.py::TestActionDiscretizer::test_transform_env[cheetah-SamplingStrategy.RANDOM-False-True]
• Unit-tests on Windows / unittests-cpu (3.10, windows.4xlarge, cpu) / windows-job (gh) (trunk failure)
  test/test_transforms.py::TestTimer::test_transform_env

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