Add more robot model and add the RL function.

[liuhangxu-robin]

Please add more robot models URDF/USD/MJCF, such as Lerobot/SO100/SO101, Dexterous Hand, Franka, GO1/GO2, H1/G1 and other models supported by isaacsim. Please combine newton with reinforcement learning frameworks, such as isaaclab/isaacgym. We really want to use newton for reinforcement learning training.