# Description

This MR adds new tasks for contact-rich manipulation based on the
Factory line of work. Tasks include peg insertion, gear meshing, and nut
threading.

## Type of change

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

## Screenshots

<img
src="https://github.com/user-attachments/assets/c8c32592-8972-4b1e-be7c-51b0313393bf"
alt="peg_insertion" height="200"/>
<img
src="https://github.com/user-attachments/assets/437baf31-f9cb-4a27-94ac-5f21e2309089"
alt="gear_meshing" height="200"/>
<img
src="https://github.com/user-attachments/assets/bccdf71b-cd5f-45f7-b4ca-71616885ef48"
alt="nut_threading" height="200"/>

## Checklist

- [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 <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Iretiayo Akinola <iakinola@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>