# Description

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As a step towards supporting sensors as "Views", this PR upgrades the
`SensorBase` class to follow a similar definition as `RobotBase` and
updates the sensor implementations as well. Now, the following sensors
are supported:

* `Camera`: This spawns a USD camera object and instantiates it with
replicator OmniGraph for different synthetic data
* `RayCaster`: This is a virtual sensor that uses a warp kernel for
raycasting against static meshes.
* `ContactSensor`: This wraps around the `RigidContactView` from PhysX
to provide the contact forces on encapsulated prims.

Note: Currently camera rendering is not truly parallelized. They are
called sequentially inside the `Camera` to fetch their data.
Additionally, some camera data such as bounding boxes are not possible
to get in the torch backend. Due to this, they are not supported in the
new `Camera` class.

Old the old sensor implementations have been moved to the
`omni.isaac.orbit.compat.sensors` module for backwards compatibility. We
will remove them once we have moved to v1.0.

Fixes #3

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## Type of change

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- New feature (non-breaking change which adds functionality)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] 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

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