Adds serialization to observation and action managers

[jsmith-bdai]

Description

This PR adds a serialize method to observation and action manager terms, so that they can be stored alongside a trained policy for later introspection.

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