Reorganizes functions inside XformPrimView

[Mayankm96]

Description

This MR ensures we stay consistent with the code structure in the contribution guidelines.

Type of change

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

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

[greptile-apps]

Greptile Summary

• Reorganizes functions in XformPrimView class to follow contribution guidelines for code structure consistency
• Fixes minor grammatical errors in comments within the Camera class to improve documentation quality

Important Files Changed

Filename	Overview
source/isaaclab/isaaclab/sim/views/xform_prim_view.py	Major code reorganization with methods reordered into logical sections, validation moved earlier, and enhanced logging added

Confidence score: 5/5

• This PR is safe to merge with minimal risk as it primarily focuses on code organization and documentation improvements
• Score reflects that the changes are structural improvements without functional modifications, plus the addition of helpful logging and validation enhancements
• No files require special attention as the reorganization maintains backward compatibility and improves code maintainability

Sequence Diagram

sequenceDiagram
    participant User
    participant Camera
    participant XformPrimView
    participant Replicator
    participant FabricHierarchy
    participant AnnotatorRegistry
    
    User->>Camera: "Camera(cfg)"
    Camera->>Camera: "_check_supported_data_types()"
    Camera->>Camera: "spawn camera asset if configured"
    
    User->>Camera: "initialize()"
    Camera->>XformPrimView: "XformPrimView(prim_path, device)"
    XformPrimView->>FabricHierarchy: "initialize fabric if CUDA device"
    Camera->>Replicator: "create_render_product()"
    Camera->>AnnotatorRegistry: "get_annotator() for each data type"
    AnnotatorRegistry-->>Camera: "annotator instances"
    Camera->>Camera: "_create_buffers()"
    Camera->>Camera: "_update_intrinsic_matrices()"
    
    User->>Camera: "data property access"
    Camera->>Camera: "_update_outdated_buffers()"
    Camera->>Camera: "_update_poses()"
    XformPrimView->>Camera: "get_world_poses()"
    Camera->>AnnotatorRegistry: "annotator.get_data() for each type"
    AnnotatorRegistry-->>Camera: "sensor data"
    Camera->>Camera: "_process_annotator_output()"
    Camera-->>User: "CameraData with processed outputs"

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