Computes Jacobian in the root frame inside the `DifferentialInverseKinematicsAction` class

[zoctipus]

Description

This pull request fix the bug where jacobian returned by DifferentialInverseKinematicsAction._compute_fame_jacobian are not truly in robot base frame because it did not consider robot's base rotation. After the change, _compute_fame_jacobian returns the correct local frame jacobian. In addition, properties get_jacobian_w and get_jacobian_b is added to differentiate frame differences

Fixes #911

Type of change

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

Screenshots

Checklist

• [x] I have run the pre-commit checks with ./isaaclab.sh --format
• [ ] I have made corresponding changes to the documentation
• [x] My changes generate no new warnings
• [ ] I have added tests that prove my fix is effective or that my feature works
• [x] I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• [x] I have added my name to the CONTRIBUTORS.md or my name already exists there