# Description


After indexing the size of `quad_w` in the `apply_actions` method is
(N,B,4) where B will always equal 1, since it is enforced in the
`__init__` that only one body name is passed to the action term config.
However, the `euler_xyz_from_quat` method requires inputs to be size
(N,4), and so an error is thrown for input size (N,1,4). This PR just
creates a (N,4) view of quat_w to be passed to `euler_xyz_from_quat`.
This simple change does not introduce any new warnings and works with a
simple non holonomic robot, like the Clearpath Husky.

## Type of change

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

## 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
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: Kyle Morgenstein <34984693+KyleM73@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 <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>