Replaces deprecated effort_limit and velocity_limit in ImplicitActuatorCfg initializations

[louislelay]

Description

While running a training, I encountered the following warnings:

[Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'effort_limit'. This parameter will be removed in the future. To set the effort limit, please use 'effort_limit_sim' instead.
[Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg> object has a value for 'velocity_limit'. Previously, although this value was specified, it was not getting used by implicit actuators. Since this parameter affects the simulation behavior, we continue to not use it. This parameter will be removed in the future. To set the velocity limit, please use 'velocity_limit_sim' instead.

To ensure forward compatibility and suppress these warnings, I have updated all instances of implicit actuator initializations by replacing:

• effort_limit → effort_limit_sim
• velocity_limit → velocity_limit_sim

Type of change

• Bug fix (non-breaking change which fixes an issue)
• This change requires a documentation update

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

[Mayankm96]

Thanks a lot for the MR. We will have to make sure the training for all the affected environments remains the same. Otherwise, we might break things here accidentally.

We are working on making a test that allows us to keep track of this.