apply transform for mesh_prim of ray caster sensor

[clearsky-mio]

Description

Currently, ray-saster does not apply transform to the mesh that is cast against by ray.
As a result, no matter where the mesh is, the ray caster get data as same as when the mesh is in the pos (0,0,0) with quat (1,0,0,0).

Type of change

• Bug fix (non-breaking change which fixes an issue)

Screenshots

I use a red cube to mark the position of ray caster sensor, and use LidarPattern to generate ray for more intuitive visual effects.

Before fixed, when the mesh is in the center with pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0), the result will be right.

However, if pos=(1.0, -2.0, 0.0), rot=(0.816, 0.577, 0.0, 0.0), it causes bug as:

After fixed, the result will be right:

Checklist

• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• 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