Implement Point-lio for go2, use andrew raycaster, let's do Z

[https://oss-global-cdn.unitree.com/static/c0bd0ac7d1e147e7a7eaf909f1fc214f.mp4](<https://oss-global-cdn.unitree.com/static/c0bd0ac7d1e147e7a7eaf909f1fc214f.mp4>)

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*Synced from* [DIM-963](https://linear.app/dimensional/issue/DIM-963) *by summer*