Fixes advanced indexing shape mismatch when resetting prev_action isaaclab.envs.mdp.actions.JointPositionToLimitsAction (#3865)

# Description

This PR fixes the issue reported in #3753 where the advanced indexing
failed due to shape mismatch.
This PR is an alternative solution to #3754,

The fixes is tricky, the most elegant and performant way I found so far
is separate code path when env_id is None vs env_id is tensor. if we
don't do so, applying left hand side with
self._prev_applied_actions[env_ids, :] where env_ids is 2d will cause
the lfs shape to be ill formed.


Fixes #3753 

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## Type of change

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

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