# Description

This pull request fix the bug where jacobian returned by
DifferentialInverseKinematicsAction._compute_fame_jacobian are not truly
in robot base frame because it did not consider robot's base rotation.
After the change, _compute_fame_jacobian returns the correct local frame
jacobian. In addition, properties get_jacobian_w and get_jacobian_b is
added to differentiate frame differences

Fixes #911 

## Type of change
- Bug fix (non-breaking change which fixes an issue)

## Screenshots

<img width="1109" alt="image"
src="https://github.com/user-attachments/assets/5d47dfb3-8c44-4115-b5a0-28c671e99459">

## Checklist

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

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Signed-off-by: Octi Zhang <127588710+zoctipus@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>