Contact/joint viz do not account for world offsets

[lenroe-nv]

Since world offsets were moved to the viewer, contacts and joint axis are not correctly displayed anymore.

[coderabbitai]

A summary of the changes CodeRabbit can apply:

• Add world-offset handling to contact and joint visualization by updating kernels in newton/_src/viewer/kernels.py (add shape_world/body_world and world_offsets params and apply offsets to computed world positions) and adjusting kernel launches in newton/_src/viewer/viewer.py (pass self.model.shape_world/self.model.body_world and self.world_offsets).

• Add support for per-shape/per-body world offsets: modify newton/_src/viewer/kernels.py to add shape_world/body_world and world_offsets parameters and apply offsets when computing contact and joint world positions (adjust contact and joint basis line kernels and outputs), and update newton/_src/viewer/viewer.py to pass self.model.shape_world / self.model.body_world and self.world_offsets into the kernel calls.

• Executed edits - (🔄 Check again to try again)

[coderabbitai]

Caution

The CodeRabbit agent's plans did not produce any file changes.