Earlier, we used the `sphinx-tabs` module, which didn't work well with
the `sphinx-book-theme` of our documentation. This MR removes this
dependency and uses `sphinx-design` instead for tabs. This natively
supports the dark theme.

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- This change requires a documentation update

## Screenshots


https://github.com/isaac-sim/IsaacLab/assets/12863862/a56e1fa4-9b3c-4161-83bd-95b0e3b10334


## 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
- [ ] I have run all the tests with `./isaaclab.sh --test` and they pass
- [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