Add Flexiv command shaping to DisplayPort env

[ashwinvkNV]

Description

This PR adds Flexiv Rizon4s command-response shaping to the DisplayPort cable insertion ROS-inference environment.

The change builds on shauryad/dp_cable_ship and updates the DisplayPort Rizon4s ROS-inference configs to use a shaped/delayed relative joint-position action term:

• command target velocity limit: 2.0 rad/s
• command target acceleration limit: 3.0 rad/s^2
• command latency: 20 ms

The DisplayPort environment timing is intentionally left unchanged:

• physics frequency: 240 Hz
• decimation: 8
• effective control frequency: 30 Hz

This PR does not change the actuator/PD gains and does not add the tuned SysID actuator YAML. The robot continues to use the existing DisplayPort actuator configuration.

The DisplayPort env already logs insertion success metrics:

• Metrics/success_rate
• Metrics/plug_socket_pos_error_m
• Metrics/plug_socket_keypoint_dist_m
• Metrics/terminal_success_rate

The success threshold is currently 3 mm plug/socket mate-point distance.

No new external dependencies are required.

Fixes # N/A

Type of change

• New feature (non-breaking change which adds functionality)

Screenshots

N/A

Checklist

• I have read and understood the contribution guidelines
• 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