New method to compose wrenches

[AntoineRichard]

Description

Adds the ability to compose forces onto rigid bodies, rigid body collections and articulations.
This should help implement drones, boats, and satellites into the framework.

Usage

# Adding two forces in a single step on the same body
asset.add_composable_force_and_torque(forces=torch.ones(1, 1, 3), env_ids=[0], object_ids=[0])
# Compose local and global forces together
asset.add_composable_force_and_torque(forces=torch.ones(1, 1, 3), env_ids=[0], object_ids=[1], is_global=True)
# Adding torques to the same body
asset.add_composable_force_and_torque(torques=torch.ones(1, 1, 3), env_ids=[0], object_ids=[0])
#Adding forces and torques to the same body
asset.add_composable_force_and_torque(forces=torch.ones(1, 1, 3), torques=torch.ones(1, 1, 3), env_ids=[0], object_ids=[0])
# Adding forces and torques to the same body with different positions
asset.add_composable_force_and_torque(forces=torch.ones(1, 1, 3), torques=torch.ones(1, 1, 3), env_ids=[0], object_ids=[0], positions=torch.ones(1, 1, 3))

 # The resulting composed forces and torques can be queried by calling:
composed_force = asset._wrench_composer.composed_force_as_torch
composed_torque = asset._wrench_composer.composed_torque_as_torch

Fixes #3286

Type of change

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

Checklist

• I have run the pre-commit checks 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
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there