Create3 in Omniverse and Isaac Sim

[halBRY]

Like the Elephant Robotics arms, the Create3s have URDF files for simulation. We should be able to import these to Isaac Sim, and develop similar control scripts for twinning. However, wheel control won't use the same motion planning techniques as the IK for the arms, so the nature of this connection remains an open design problem.

[halBRY]

Importing with the URDF importer and these URDF files works in the sense that the geometry is there, but the articulation does not appear to be correct