## 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`](https://github.com/jaykorea/Isaac-RL-Two-wheel-Legged-Bot/blob/057f81ed3aa4aff91551fce5c54256e47cece29a/lab/flamingo/tasks/constraint_based/locomotion/velocity/mdp/rewards.py#L17).
- **lorenzo-bianchi/IsaacLab**: Manual angle shifting in
[`quadcopter_env_v1.py#L219`](https://github.com/lorenzo-bianchi/IsaacLab/blob/247f66db3691046ecdfecb311268eccc729048ec/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/quadcopter/quadcopter_env_v1.py#L219).
- **kscalelabs/klab**: Custom angle normalization in
[`imu.py#L17`](https://github.com/kscalelabs/klab/blob/edf749f5177ba296a076d13380cd0fb1e5846e3f/exts/zbot2/zbot2/tasks/locomotion/velocity/mdp/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](https://en.wikipedia.org/wiki/Atan2) 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.

---


Fixes https://github.com/isaac-sim/IsaacLab/issues/2364


## Type of Change

- **Enhancement** (non-breaking addition of functionality)
---

## Checklist

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

---------
Co-authored-by: Kelly Guo <kellyg@nvidia.com>