[Feature] IsaacGymEnvs integration

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$\color{#D29922}\textsf{\Large⚠\kern{0.2cm}\normalsize Warning}$ Result of CPU Benchmark Tests

Total Benchmarks: 89. Improved: $\large\color{#35bf28}3$. Worsened: $\large\color{#d91a1a}20$.

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Name	Max	Mean	Ops	Ops on Repo HEAD	Change
test_single	0.1192s	0.1185s	8.4412 Ops/s	8.3634 Ops/s	$\color{#35bf28}+0.93\%$
test_sync	0.1292s	67.6531ms	14.7813 Ops/s	15.0422 Ops/s	$\color{#d91a1a}-1.73\%$
test_async	0.1768s	61.5895ms	16.2365 Ops/s	15.7314 Ops/s	$\color{#35bf28}+3.21\%$
test_simple	0.5834s	0.5284s	1.8925 Ops/s	1.8783 Ops/s	$\color{#35bf28}+0.76\%$
test_transformed	1.3803s	1.3378s	0.7475 Ops/s	0.7452 Ops/s	$\color{#35bf28}+0.31\%$
test_serial	1.6980s	1.6965s	0.5895 Ops/s	0.5828 Ops/s	$\color{#35bf28}+1.15\%$
test_parallel	1.8707s	1.5983s	0.6257 Ops/s	0.6852 Ops/s	$\textbf{\color{#d91a1a}-8.69\%}$
test_step_mdp_speed[True-True-True-True-True]	0.1834ms	43.2807μs	23.1050 KOps/s	23.2789 KOps/s	$\color{#d91a1a}-0.75\%$
test_step_mdp_speed[True-True-True-True-False]	67.7000μs	24.2724μs	41.1991 KOps/s	41.6854 KOps/s	$\color{#d91a1a}-1.17\%$
test_step_mdp_speed[True-True-True-False-True]	56.6000μs	30.5682μs	32.7138 KOps/s	33.3229 KOps/s	$\color{#d91a1a}-1.83\%$
test_step_mdp_speed[True-True-True-False-False]	75.2000μs	17.1120μs	58.4387 KOps/s	59.9479 KOps/s	$\color{#d91a1a}-2.52\%$
test_step_mdp_speed[True-True-False-True-True]	0.1005ms	45.0164μs	22.2141 KOps/s	22.6349 KOps/s	$\color{#d91a1a}-1.86\%$
test_step_mdp_speed[True-True-False-True-False]	53.7000μs	26.3305μs	37.9788 KOps/s	38.6947 KOps/s	$\color{#d91a1a}-1.85\%$
test_step_mdp_speed[True-True-False-False-True]	76.5010μs	32.0752μs	31.1767 KOps/s	31.2870 KOps/s	$\color{#d91a1a}-0.35\%$
test_step_mdp_speed[True-True-False-False-False]	0.1744ms	18.8782μs	52.9712 KOps/s	53.2101 KOps/s	$\color{#d91a1a}-0.45\%$
test_step_mdp_speed[True-False-True-True-True]	0.1075ms	46.7980μs	21.3684 KOps/s	21.5321 KOps/s	$\color{#d91a1a}-0.76\%$
test_step_mdp_speed[True-False-True-True-False]	90.2000μs	27.7392μs	36.0501 KOps/s	35.9336 KOps/s	$\color{#35bf28}+0.32\%$
test_step_mdp_speed[True-False-True-False-True]	55.2010μs	31.8988μs	31.3491 KOps/s	31.6801 KOps/s	$\color{#d91a1a}-1.04\%$
test_step_mdp_speed[True-False-True-False-False]	78.1010μs	18.6806μs	53.5314 KOps/s	54.3644 KOps/s	$\color{#d91a1a}-1.53\%$
test_step_mdp_speed[True-False-False-True-True]	0.2556ms	48.6432μs	20.5578 KOps/s	21.0278 KOps/s	$\color{#d91a1a}-2.24\%$
test_step_mdp_speed[True-False-False-True-False]	78.4010μs	29.6026μs	33.7808 KOps/s	33.7180 KOps/s	$\color{#35bf28}+0.19\%$
test_step_mdp_speed[True-False-False-False-True]	97.9000μs	33.9783μs	29.4305 KOps/s	29.8436 KOps/s	$\color{#d91a1a}-1.38\%$
test_step_mdp_speed[True-False-False-False-False]	0.1775ms	20.2248μs	49.4443 KOps/s	49.0920 KOps/s	$\color{#35bf28}+0.72\%$
test_step_mdp_speed[False-True-True-True-True]	0.1127ms	46.5977μs	21.4603 KOps/s	21.8261 KOps/s	$\color{#d91a1a}-1.68\%$
test_step_mdp_speed[False-True-True-True-False]	85.5010μs	27.9014μs	35.8405 KOps/s	36.2459 KOps/s	$\color{#d91a1a}-1.12\%$
test_step_mdp_speed[False-True-True-False-True]	0.2247ms	37.0543μs	26.9874 KOps/s	27.3435 KOps/s	$\color{#d91a1a}-1.30\%$
test_step_mdp_speed[False-True-True-False-False]	85.6010μs	20.6763μs	48.3646 KOps/s	48.7739 KOps/s	$\color{#d91a1a}-0.84\%$
test_step_mdp_speed[False-True-False-True-True]	74.9000μs	48.8502μs	20.4708 KOps/s	21.0827 KOps/s	$\color{#d91a1a}-2.90\%$
test_step_mdp_speed[False-True-False-True-False]	85.2010μs	29.8488μs	33.5022 KOps/s	33.9690 KOps/s	$\color{#d91a1a}-1.37\%$
test_step_mdp_speed[False-True-False-False-True]	0.1024ms	38.6855μs	25.8495 KOps/s	25.8700 KOps/s	$\color{#d91a1a}-0.08\%$
test_step_mdp_speed[False-True-False-False-False]	0.1977ms	22.5419μs	44.3619 KOps/s	44.7567 KOps/s	$\color{#d91a1a}-0.88\%$
test_step_mdp_speed[False-False-True-True-True]	0.1197ms	50.2103μs	19.9162 KOps/s	20.3786 KOps/s	$\color{#d91a1a}-2.27\%$
test_step_mdp_speed[False-False-True-True-False]	94.0010μs	31.1321μs	32.1212 KOps/s	32.4442 KOps/s	$\color{#d91a1a}-1.00\%$
test_step_mdp_speed[False-False-True-False-True]	61.5000μs	38.8423μs	25.7452 KOps/s	26.1054 KOps/s	$\color{#d91a1a}-1.38\%$
test_step_mdp_speed[False-False-True-False-False]	82.8000μs	22.0758μs	45.2984 KOps/s	45.0921 KOps/s	$\color{#35bf28}+0.46\%$
test_step_mdp_speed[False-False-False-True-True]	78.4010μs	51.9111μs	19.2637 KOps/s	19.8445 KOps/s	$\color{#d91a1a}-2.93\%$
test_step_mdp_speed[False-False-False-True-False]	94.6010μs	33.1460μs	30.1695 KOps/s	30.5707 KOps/s	$\color{#d91a1a}-1.31\%$
test_step_mdp_speed[False-False-False-False-True]	79.8010μs	40.2450μs	24.8478 KOps/s	25.2052 KOps/s	$\color{#d91a1a}-1.42\%$
test_step_mdp_speed[False-False-False-False-False]	0.1769ms	23.9656μs	41.7265 KOps/s	42.0041 KOps/s	$\color{#d91a1a}-0.66\%$
test_values[generalized_advantage_estimate-True-True]	17.4314ms	13.9790ms	71.5357 Ops/s	73.8950 Ops/s	$\color{#d91a1a}-3.19\%$
test_values[vec_generalized_advantage_estimate-True-True]	55.5426ms	51.3402ms	19.4779 Ops/s	19.5490 Ops/s	$\color{#d91a1a}-0.36\%$
test_values[td0_return_estimate-False-False]	0.3360ms	0.2095ms	4.7736 KOps/s	5.0671 KOps/s	$\textbf{\color{#d91a1a}-5.79\%}$
test_values[td1_return_estimate-False-False]	16.8624ms	13.7404ms	72.7783 Ops/s	75.1442 Ops/s	$\color{#d91a1a}-3.15\%$
test_values[vec_td1_return_estimate-False-False]	59.8889ms	50.9427ms	19.6299 Ops/s	19.7518 Ops/s	$\color{#d91a1a}-0.62\%$
test_values[td_lambda_return_estimate-True-False]	37.6956ms	32.7809ms	30.5055 Ops/s	30.5650 Ops/s	$\color{#d91a1a}-0.19\%$
test_values[vec_td_lambda_return_estimate-True-False]	55.5508ms	50.6316ms	19.7505 Ops/s	19.6815 Ops/s	$\color{#35bf28}+0.35\%$
test_gae_speed[generalized_advantage_estimate-False-1-512]	12.5301ms	12.3897ms	80.7121 Ops/s	81.8140 Ops/s	$\color{#d91a1a}-1.35\%$
test_gae_speed[vec_generalized_advantage_estimate-True-1-512]	7.5573ms	2.4110ms	414.7607 Ops/s	405.4169 Ops/s	$\color{#35bf28}+2.30\%$
test_gae_speed[vec_generalized_advantage_estimate-False-1-512]	4.8771ms	0.4000ms	2.4998 KOps/s	2.5297 KOps/s	$\color{#d91a1a}-1.18\%$
test_gae_speed[vec_generalized_advantage_estimate-True-32-512]	51.5794ms	47.0480ms	21.2549 Ops/s	19.1639 Ops/s	$\textbf{\color{#35bf28}+10.91\%}$
test_gae_speed[vec_generalized_advantage_estimate-False-32-512]	8.6218ms	3.8156ms	262.0794 Ops/s	263.4348 Ops/s	$\color{#d91a1a}-0.51\%$
test_dqn_speed	6.2725ms	1.2485ms	800.9629 Ops/s	752.6464 Ops/s	$\textbf{\color{#35bf28}+6.42\%}$
test_ddpg_speed	8.5686ms	2.4934ms	401.0616 Ops/s	402.5391 Ops/s	$\color{#d91a1a}-0.37\%$
test_sac_speed	12.9423ms	7.9489ms	125.8034 Ops/s	126.5850 Ops/s	$\color{#d91a1a}-0.62\%$
test_redq_speed	18.2914ms	13.4497ms	74.3511 Ops/s	73.1036 Ops/s	$\color{#35bf28}+1.71\%$
test_redq_deprec_speed	17.2485ms	12.2604ms	81.5633 Ops/s	83.0561 Ops/s	$\color{#d91a1a}-1.80\%$
test_td3_speed	16.5699ms	9.5850ms	104.3299 Ops/s	107.4280 Ops/s	$\color{#d91a1a}-2.88\%$
test_cql_speed	30.8698ms	26.5224ms	37.7040 Ops/s	38.4599 Ops/s	$\color{#d91a1a}-1.97\%$
test_a2c_speed	10.7829ms	5.4426ms	183.7350 Ops/s	187.1548 Ops/s	$\color{#d91a1a}-1.83\%$
test_ppo_speed	29.6596ms	6.1009ms	163.9111 Ops/s	179.1868 Ops/s	$\textbf{\color{#d91a1a}-8.53\%}$
test_reinforce_speed	9.5346ms	4.1168ms	242.9060 Ops/s	244.9168 Ops/s	$\color{#d91a1a}-0.82\%$
test_iql_speed	26.9765ms	21.4124ms	46.7020 Ops/s	49.1206 Ops/s	$\color{#d91a1a}-4.92\%$
test_sample_rb[TensorDictReplayBuffer-ListStorage-RandomSampler-4000]	3.4323ms	2.5989ms	384.7847 Ops/s	412.2236 Ops/s	$\textbf{\color{#d91a1a}-6.66\%}$
test_sample_rb[TensorDictReplayBuffer-LazyMemmapStorage-RandomSampler-10000]	4.4028ms	2.7194ms	367.7286 Ops/s	390.1744 Ops/s	$\textbf{\color{#d91a1a}-5.75\%}$
test_sample_rb[TensorDictReplayBuffer-LazyTensorStorage-RandomSampler-10000]	0.1210s	3.0599ms	326.8052 Ops/s	390.6785 Ops/s	$\textbf{\color{#d91a1a}-16.35\%}$
test_sample_rb[TensorDictReplayBuffer-ListStorage-SamplerWithoutReplacement-4000]	3.6469ms	2.6749ms	373.8446 Ops/s	412.8702 Ops/s	$\textbf{\color{#d91a1a}-9.45\%}$
test_sample_rb[TensorDictReplayBuffer-LazyMemmapStorage-SamplerWithoutReplacement-10000]	0.1210s	3.0984ms	322.7427 Ops/s	393.9831 Ops/s	$\textbf{\color{#d91a1a}-18.08\%}$
test_sample_rb[TensorDictReplayBuffer-LazyTensorStorage-SamplerWithoutReplacement-10000]	5.8683ms	2.7720ms	360.7568 Ops/s	392.4986 Ops/s	$\textbf{\color{#d91a1a}-8.09\%}$
test_sample_rb[TensorDictPrioritizedReplayBuffer-ListStorage-None-4000]	3.2488ms	2.6390ms	378.9309 Ops/s	413.5992 Ops/s	$\textbf{\color{#d91a1a}-8.38\%}$
test_sample_rb[TensorDictPrioritizedReplayBuffer-LazyMemmapStorage-None-10000]	5.7439ms	2.7650ms	361.6633 Ops/s	389.5986 Ops/s	$\textbf{\color{#d91a1a}-7.17\%}$
test_sample_rb[TensorDictPrioritizedReplayBuffer-LazyTensorStorage-None-10000]	4.6505ms	2.7863ms	358.9048 Ops/s	388.5113 Ops/s	$\textbf{\color{#d91a1a}-7.62\%}$
test_iterate_rb[TensorDictReplayBuffer-ListStorage-RandomSampler-4000]	3.6747ms	2.6686ms	374.7277 Ops/s	401.1545 Ops/s	$\textbf{\color{#d91a1a}-6.59\%}$
test_iterate_rb[TensorDictReplayBuffer-LazyMemmapStorage-RandomSampler-10000]	4.7059ms	2.7564ms	362.7915 Ops/s	378.7414 Ops/s	$\color{#d91a1a}-4.21\%$
test_iterate_rb[TensorDictReplayBuffer-LazyTensorStorage-RandomSampler-10000]	4.8633ms	2.7546ms	363.0345 Ops/s	373.8784 Ops/s	$\color{#d91a1a}-2.90\%$
test_iterate_rb[TensorDictReplayBuffer-ListStorage-SamplerWithoutReplacement-4000]	3.0195ms	2.6553ms	376.5991 Ops/s	388.4751 Ops/s	$\color{#d91a1a}-3.06\%$
test_iterate_rb[TensorDictReplayBuffer-LazyMemmapStorage-SamplerWithoutReplacement-10000]	5.7809ms	2.7509ms	363.5226 Ops/s	376.1351 Ops/s	$\color{#d91a1a}-3.35\%$
test_iterate_rb[TensorDictReplayBuffer-LazyTensorStorage-SamplerWithoutReplacement-10000]	4.7906ms	2.7638ms	361.8203 Ops/s	382.7867 Ops/s	$\textbf{\color{#d91a1a}-5.48\%}$
test_iterate_rb[TensorDictPrioritizedReplayBuffer-ListStorage-None-4000]	3.6951ms	2.6298ms	380.2586 Ops/s	406.0602 Ops/s	$\textbf{\color{#d91a1a}-6.35\%}$
test_iterate_rb[TensorDictPrioritizedReplayBuffer-LazyMemmapStorage-None-10000]	5.8437ms	2.7752ms	360.3354 Ops/s	376.5221 Ops/s	$\color{#d91a1a}-4.30\%$
test_iterate_rb[TensorDictPrioritizedReplayBuffer-LazyTensorStorage-None-10000]	6.2686ms	2.7565ms	362.7833 Ops/s	386.1905 Ops/s	$\textbf{\color{#d91a1a}-6.06\%}$
test_populate_rb[TensorDictReplayBuffer-ListStorage-RandomSampler-400]	0.2314s	27.3180ms	36.6059 Ops/s	37.8886 Ops/s	$\color{#d91a1a}-3.39\%$
test_populate_rb[TensorDictReplayBuffer-LazyMemmapStorage-RandomSampler-400]	0.1288s	27.6198ms	36.2060 Ops/s	44.2698 Ops/s	$\textbf{\color{#d91a1a}-18.22\%}$
test_populate_rb[TensorDictReplayBuffer-LazyTensorStorage-RandomSampler-400]	0.1306s	25.4348ms	39.3162 Ops/s	37.1115 Ops/s	$\textbf{\color{#35bf28}+5.94\%}$
test_populate_rb[TensorDictReplayBuffer-ListStorage-SamplerWithoutReplacement-400]	0.1298s	27.4805ms	36.3894 Ops/s	40.4900 Ops/s	$\textbf{\color{#d91a1a}-10.13\%}$
test_populate_rb[TensorDictReplayBuffer-LazyMemmapStorage-SamplerWithoutReplacement-400]	0.1284s	27.5355ms	36.3168 Ops/s	37.5513 Ops/s	$\color{#d91a1a}-3.29\%$
test_populate_rb[TensorDictReplayBuffer-LazyTensorStorage-SamplerWithoutReplacement-400]	0.1292s	25.3687ms	39.4187 Ops/s	37.7004 Ops/s	$\color{#35bf28}+4.56\%$
test_populate_rb[TensorDictPrioritizedReplayBuffer-ListStorage-None-400]	0.1278s	27.4512ms	36.4283 Ops/s	40.5656 Ops/s	$\textbf{\color{#d91a1a}-10.20\%}$
test_populate_rb[TensorDictPrioritizedReplayBuffer-LazyMemmapStorage-None-400]	0.1280s	25.2381ms	39.6227 Ops/s	37.9633 Ops/s	$\color{#35bf28}+4.37\%$
test_populate_rb[TensorDictPrioritizedReplayBuffer-LazyTensorStorage-None-400]	0.1281s	27.2793ms	36.6579 Ops/s	39.7223 Ops/s	$\textbf{\color{#d91a1a}-7.71\%}$