Some changes and updates were introduced in the latest physics build for
Isaac Sim 4.5. This PR updates Isaac Lab to leverage some new APIs:

- Kinematic bodies now require an additional API call to populate
kinematic transforms to fabric, which will allow for rendering of
kinematic bodies
- A new `enable_env_ids` flag was introduced in the cloning and physics
replication APIs that will now automatically filter collisions across
environments. This replaces the previous calls to filter collisions,
which helps speed up the scene creation process.

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- New feature (non-breaking change which adds functionality)

- [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
- [ ] 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
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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Signed-off-by: Kelly Guo <kellyg@nvidia.com>