Changes the quat_box_minus implementation and adds quat_box_plus and rigid_body_twist_transform (#2217)

# Description

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- Changes the quat_box_minus implementation see changes for reference
links
- Adds quat_box_plus and rigid_body_twist_transform methods

# Reason for Change

While using `quat_box_minus` to get angular velocities through finite
differences we encountered that the angular velocity contained some
unreasonably large values at given points along the trajectory. After
some investigation we observed:

- The problem comes from `quat_box_minus` yielding unreasonably large
axis-angle differences at some points (”outliers”) of the trajectory.
- Those “outliers” appear when the real part of the difference
quaternion (`quat_diff = quat_mul(q1, quat_conjugate(q2))`) becomes
negative ($w < 0$).
- This happens even when the inputs are standardized with $w≥0$.

## Type of change

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- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)

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## 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
- [x] 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

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credit to @alopez-bdai

---------
Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>