Improve the implementation of euler_xyz_from_quat

[ShaoshuSu]

Description

Previously, euler_xyz_from_quat returned Euler angles in the [0, 2π) range, which is uncommon in robotics applications. As a result, several users implemented their own workarounds to adjust the angle range to (−π, π]. Examples include:

• Isaac-RL-Two-wheel-Legged-Bot: Custom unwrapping implemented in rewards.py#L17.
• lorenzo-bianchi/IsaacLab: Manual angle shifting in quadcopter_env_v1.py#L219.
• kscalelabs/klab: Custom angle normalization in imu.py#L17.

To address this issue, we have updated the default angle range from [0, 2π) to (−π, π] by removing the % (2 * torch.pi) operation at the return statement, since the atan2 function naturally outputs angles within the (−π, π] range.

We also introduced a new parameter, wrap_to_2pi: bool = False. Setting this parameter to True will maintain the previous behavior:

• Default (wrap_to_2pi=False): Angles returned in the range (−π, π].
• Optional (wrap_to_2pi=True): Angles wrapped in the original [0, 2π) range.

Additionally, multiple test samples have been added to evaluate and ensure performance and accuracy across different scenarios.

What’s Changed

• Default behavior updated to (−π, π] (non-breaking).
• New argument wrap_to_2pi for optional wrapping.
• Unit tests added for both wrapped and unwrapped outputs.

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Fixes #2364

Type of Change

• Enhancement (non-breaking addition of functionality)

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Checklist

• Ran ./isaaclab.sh --format and all pre-commit checks pass
• Updated docstrings to describe wrap_to_2pi parameter
• Added tests covering both wrapped and unwrapped outputs
• No new warnings introduced
• Updated changelog and bumped version in config/extension.toml
• Confirmed my name is listed in CONTRIBUTORS.md