Fixes collision filtering logic on CPU

[kellyguo11]

Description

Previously, the physics engine introduced a new feature to automatically perform collision filtering across environments when physics replication is enabled. However, this feature has limitations for CPU simulation, so we still need to explicitly call collision filtering on CPU simulation.

This change fixes the scene setup process to do explicit collision filtering when running on the CPU.

Fixes #2548

Type of change

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

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

[Mayankm96]

hmm is it possible to put this inside environments cloning (as a flag to filter collisions)? It gets strange in the code to have this changing frequently 😓

[kellyguo11]

ya we should be able to do that, we can add a few more arguments to clone_environments

[kellyguo11]

hmm I think this might be a breaking change if we put it inside clone_environments. we can only call filter collision once in the cloner, so if users already have that call in their scripts, then doing it this way will break their scripts.