# Description

Corrects `quat_inv()` in utils/math.py: the inverse is now computed as:

`quat_conjugate(q) / q.pow(2).sum(dim=-1, keepdim=True).clamp(min=eps)`

ensuring correct results for **non-unit** quaternions.  

Fixes #1263 (see discussion for details). Also updated `CHANGELOG.rst`
and corrected a few minor typos within.

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] 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

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