Fixes `quat_box_minus` operation

[pascal-roth]

Description

Fixes quat_box_minus operation for non-unique quaternions.

credit to @adrialopezescoriza

Type of change

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

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
• [x] 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
• [x] I have added my name to the CONTRIBUTORS.md or my name already exists there

[jtigue-bdai]

@pascal-roth https://github.com/isaac-sim/IsaacLab/pull/2217 has these additions from @adrialopezescoriza 's work at RAI

[pascal-roth]

@jtigue-bdai didn't see that, thanks for adding them already