Improves the `omni.isaac.lab.assets.RigidObjectData` and
`omni.isaac.lab.assets.ArticulationData` buffers to update their data
lazily. Before, all the data was always updated at every step, even if
it was not used by the task. This improves performance for all the
tasks.

## Type of change

- New feature

## Screenshots

For the Cartpole task, blue is before, red is this MR.

![image](https://github.com/isaac-sim/IsaacLab/assets/11162199/99cbe73d-fa89-4de9-a94c-306cc7e0766f)

## 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
- [x] 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 run all the tests with `./isaaclab.sh --test` and they pass
- [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