# Description

This PR fixes the issue where get_done_term returned last episode value
rather than current step value.

This PR realizes values used for get_term should be different from that
used for logging, and mixed useage leads to non-intuitive behavior.

using per-step value for logging leads to overcounting and undercounting
reported in #2977
using last-episode value for get_term leads to misalignment with
expectation reported in #3720

Fixes #2977 #3720 

---

The logging behavior remains *mostly* the same as #3107, and and also
got rid of the weird overwriting behavior(yay).
I get exactly the same termination curve as #3107 when run on
`Isaac-Velocity-Rough-Anymal-C-v0`

Here is a benchmark summary with 1000 steps running
`Isaac-Velocity-Rough-Anymal-C-v0 ` with 4096 envs

Before #3107: 

`| termination.compute     |       0.229 ms|`
`| termination.reset       |       0.007 ms|`

PR #3107: 

`| termination.compute     |       0.274 ms|`
`| termination.reset       |       0.004 ms|`

This PR: 

`| termination.compute     |       0.258 ms|`
`| termination.reset       |       0.004 ms|`

We actually see improvement, this is due to the fact that expensive
maintenance of last_episode_value is only computed once per
compute(#3107 computes last_episode_value for every term)

## Type of change

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

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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

---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>