Octi Zhang comments

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                                            Octi Zhang

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

@Mayankm96 Thanks for Reviewing, and sorry for the delay, my last week schedule was overwhelming. I have added tests for checking the implement, all tests are passing! however, there are...

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

Thanks for the fix!

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

I just rebased the branch to track the newest Isaac Iab and fixed the versioning, Please have a view and let me know what else I can fix! @lorenwel @Mayankm96...

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

I have updated versioning in CHANGE LOG and extension.toml, please take a look when you have time! Thanks! @jsmith-bdai @Mayankm96

[Proposal] Change asset.data.root_state_w to output velocities at the root link frame rather than COM for all asset types

I like it! I was assuming data.root_state_w is base link rather than COM, and used it to calculate distance between robot and treat. Then I found out A1 is trying...

[Proposal] Change asset.data.root_state_w to output velocities at the root link frame rather than COM for all asset types

@Mayankm96 Oh I am sorry, I check code again, I meant to say `root_pos_w` and confused it with `root_state_w`(the position part of root_state_w). I was using distance calculated as `norm(robot.data.root_pos_w,...