Replaces IsaacSim `XFormPrim` with reduced IsaacLab version#4070

pascal-roth wants to merge 4 commits intoisaac-sim:mainisaac-sim/IsaacLab:mainfrom

pascal-roth:feature/x-form-primpascal-roth/IsaacLab:feature/x-form-primCopy head branch name to clipboard