# Description

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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

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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Signed-off-by: CY Chen <cyc@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>