Adds direct workflow environment for reach task

[louislelay]

Description

This PR introduces a direct workflow environment for the Reach task. Currently, it only has a manager-based workflow, but having both options is seen as beneficial as mentioned in kellyguo11’s suggestion in issue #748.

I created this as a first step while working on the Jenga task. I believe this implementation can serve as a template for others interested in developing direct workflow environments for the "Help Needed" tasks, offering an easier starting point compared to the more complex setups already available.

Fixes #748

Type of change

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

Screenshots

rl-video-step-22000.mp4

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

[louislelay]

Hello @kellyguo11, @Mayankm96 and @jtigue-bdai, is this PR of interest to the codebase? I can resolve the conflict but if not, let's close it!