Adds contact point location reporting to ContactSensor

[jtigue-bdai]

Description

This PR:

• Adds ContactSensorCfg.track_contact_points to toggle tracking of contact point locations between sensor bodies and filtered bodies.
• Adds ContactSensorCfg.max_contact_data_per_prim to configure the maximum amount of contacts per sensor body.
• Adds ContactSensorData.contact_pos_w data field for tracking contact point locations.

WARNING: this implementation is very inefficient due to the unpacking and repackaging of the contact data.

Fixes # (issue)

Type of change

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

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