This MR adds new tasks which extend the `Factory` tasks to include:
1. Force sensing: Add observations for force experienced by the
end-effector.
2. Excessive force penalty: Add an option to penalize the agent for
excessive contact forces.
3. Dynamics randomization: Randomize controller gains, asset properties
(friction, mass), and dead-zone.
4. Success prediction: Add an extra action that predicts task success.

The new tasks are: `Isaac-Forge-PegInsert-Direct-v0`,
`Isaac-Forge-GearMesh-Direct-v0`, and `Isaac-Forge-NutThread-Direct-v0`

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Octi Zhang <zhengyuz@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>