[功能]: 对 geom 接触求解器参数进行环境级域随机化

Hi team — first, thanks for Genesis, it's been great to work with for large-batch RL. I'm using Genesis for sim-to-real on a contact-rich in-hand manipulation task (a dexterous hand reorienting a cube), and ran into one gap in the per-environment domain-randomization surface that I wanted to raise — and offer to help with.