yaw_quat function optimization and test

[hapatel-bdai]

Description

Added optimizations to the yaw_quat function and added a function to test_math to make sure it works as intended.

BENCHMARKS:

Device: cpu

Time for yaw_quat: <torch.utils.benchmark.utils.common.Measurement object at 0x7a342d1f8640>
math_utils.yaw_quat(q_rand) 511.79 us
1 measurement, 1000 runs , 1 thread

Time for iter_yaw_quat: <torch.utils.benchmark.utils.common.Measurement object at 0x7a342d1f9720>
iter_yaw_quat(q_rand) 2.18 ms
1 measurement, 1000 runs , 1 thread

Time for iter_old_yaw_quat: <torch.utils.benchmark.utils.common.Measurement object at 0x7a342d1f8640>
iter_old_yaw_quat(q_rand) 2.36 ms
1 measurement, 1000 runs , 1 thread

---

Device: cuda:0

Time for yaw_quat: <torch.utils.benchmark.utils.common.Measurement object at 0x7a342d1f8730>
math_utils.yaw_quat(q_rand) 246.16 us
1 measurement, 1000 runs , 1 thread

Time for iter_yaw_quat: <torch.utils.benchmark.utils.common.Measurement object at 0x7a342d1f8100>
iter_yaw_quat(q_rand) 2.97 ms
1 measurement, 1000 runs , 1 thread

Time for iter_old_yaw_quat: <torch.utils.benchmark.utils.common.Measurement object at 0x7a342d1f8730>
iter_old_yaw_quat(q_rand) 3.46 ms
1 measurement, 1000 runs , 1 thread

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Type of change

• New feature (non-breaking change which adds functionality)

Checklist

• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• 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

[jsmith-bdai]

LGTM! Can you update description to include the speed-up numbers?