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This change adds a patch in AppLauncher to override the Matrix4d
constructor to convert it's arguments into a list of floats for
compatibility with Pinocchio 2.7.0. This serves as a workaround until
Isaac Sim is patched with the fix in a later release.

The conda installation of Pinocchio 3.4.0 has been removed now that this
solution enables support for Pinocchio 2.7.0.

The corresponding documentation has also been updated now that this
workaround is in place. This includes:
1. Removing the note in Issac lab Mimic docs informing users of the
error
2. Restoring the Isaac Lab pip installation docs to original state (not
using environment.yml to create the conda env)

Fixes # (issue)

Fixes error when running XR teleop with Pinocchio 2.7.0

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- Bug fix (non-breaking change which fixes an issue)
- This change requires a documentation update

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- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.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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