This is a follow-up to #1746 by @lukasfro — thanks for the great work
there!

I’ve been using this feature and found it really helpful. Since the only
remaining request was to resolve merge conflicts and the PR has been
quiet for a bit, I went ahead and rebased it on the latest `main` to
help move things forward.

I branched directly off @lukasfro’s [original
branch](https://github.com/lukasfro/IsaacLab/tree/feature/force_matrix_w_history)
to preserve their authorship, and only applied the changes needed to
resolve the conflicts.

Of course, if @lukasfro prefers to continue the original PR, I’m more
than happy to close this. Just hoping to be helpful and support getting
this great addition merged.

All credit for the original work goes to @lukasfro.

Fixes #1720

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

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) 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
- [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>
Co-authored-by: lukasfro <lukas.froehlich@swiss-mile.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>