Add body_incoming_joint_wrench_b to ArticulationData field

[jtigue-bdai]

Description

This PR exposes the physics tensor view of the joint reaction wrenches.

Fixes #2127 1566

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

[Mayankm96]

Small question: Should this be a sensor if we want to model it as force-torque sensor with some frequency?

[jtigue-bdai]

Small question: Should this be a sensor if we want to model it as force-torque sensor with some frequency?

I think there is room to do a separate "sensor" that has the added abilities like offset frames, sensor updates, visualizations, sub selection of axes, and the like. Especially if a users is only interested in a single frame.

I figured this would be the most easiest way to get all data available quickly since it was already part of the physics tensor API.