# Description

This PR is linked to https://github.com/isaac-sim/IsaacLab/issues/1756. 
In short, with the recent deprecation of the `body_state_w` variable,
and then the removal of the deprecation, there are now 3 ways to get the
states from the `ArticulationData` class: `body_state_w`,
`body_com_state_w` and `body_link_state_w`. Commit
999c1e9a removed the deprecation,
removing any `write_root_com.*` and `write_root_link.*` calls and
therefore not updating the `body_com_state_w` and `body_link_state_w`
until the next physics step. This caused any use of the
`body_com_state_w` and `body_link_state_w` buffers to be 1 step behind
after an environment is reset.

Fixes #1762 

This PR updates the timestep of the `body_com_state_w` and
`body_link_state_w` buffers to -1 in the `write_root_pose_to_sim`
function in the `Articulation` class so that they update correctly. It
allows for use of all 3 buffers instead of only `body_state_w`.

## Type of change

- Breaking change (fix or feature that would cause existing
functionality to not work as expected)

## 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

---------
Signed-off-by: Jack Zeng <92033060+Jackkert@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>