# Description

The previous implementation of `wrap_to_pi` was rather incorrect since
it would map -PI to PI but -3PI to -PI. Following the general convention
of this function (based on MATLAB), all odd positive multiples of PI
should map to PI, and all negative multiples should map to -PI.

This MR fixes the function and also adds a unit test for it.

Fixes #770

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- 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
- [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