Added clipping action keys to the task space action terms

[oahmednv]

Description

Added clipping action keys to the task space action terms

Fixes #1548

Type of change

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

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

[kellyguo11]

Based on discussion, let's go through all of the action terms to make sure clipping makes sense for them and only allow clipping for the applicable action types. We should also add unit tests for the action terms and clipping.