Fixes inconsistent data reading in body, link, com for RigidObject, RigidObjectCollection and Articulation (#2736)

# Description
When WriteState, WriteLink, WriteCOM, WriteJoint are invoked, there is a
inconsistency when reading values of ReadState, ReadLink, ReadCOM. The
Source of the bug is because of missing timestamp invalidation of
relative data or missing update to the related data within the write
function. Below I list the all functions that is problematics

RigitObject:
write_root_link_pose_to_sim
write_root_com_velocity_to_sim

RigitObjectCollection:
write_object_link_pose_to_sim
write_object_com_velocity_to_sim

Articulation:
write_joint_state_to_sim

The bug if fixed by invalidating the relevant data timestamps in
write_joint_state_to_sim function for articulation, and added direct
update to the dependent data in write_(state|link|com)_to_sim of
RigitObject and RigitObjectCollection.

I have added the tests cases that checks the consistency among
ReadState, ReadLink, ReadCOM when either WriteState, WriteLink,
WriteCOM, WriteJoint is called and passed all tests.

Fixes #2534 #2702 

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## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] 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
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Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>