Fixes setting friction coeffecients into physx in the articulation classes (#3243)

# Description

Fixed setting friction coeffecients in the articulation classs

Please include a summary of the change and which issue is fixed. Please
also include relevant motivation and context.
List any dependencies that are required for this change.

Fixes #3231

Fixed setting friction coeffecients in the articulation classs

## 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
- [X] 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: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.45.5 (2025-08-21)
+
+Fixed
+^^^^^
+
+* Fixed :meth:`~isaaclab.assets.Articulation.write_joint_friction_coefficient_to_sim` to set the friction coefficients in the simulation.
+* Fixed :meth:`~isaaclab.assets.Articulation.write_joint_dynamic_friction_coefficient_to_sim` to set the friction coefficients in the simulation.* Added :meth:`~isaaclab.envs.ManagerBasedEnvCfg.export_io_descriptors` to toggle the export of the IO descriptors.
+* Fixed :meth:`~isaaclab.assets.Articulation.write_joint_viscous_friction_coefficient_to_sim` to set the friction coefficients in the simulation.
+
+
 0.45.4 (2025-08-21)
 ~~~~~~~~~~~~~~~~~~~~
 
@@ -10,8 +20,8 @@ Added
 * Added unit tests for :class:`~isaaclab.sensor.sensor_base`
 
 
+
 0.45.3 (2025-08-20)
-~~~~~~~~~~~~~~~~~~~
 
 Fixed
 ^^^^^

source/isaaclab/isaaclab/assets/articulation/articulation.py

@@ -866,6 +866,7 @@ class Articulation(AssetBase):
         else:
             friction_props = self.root_physx_view.get_dof_friction_properties()
             friction_props[physx_env_ids.cpu(), :, 0] = self._data.joint_friction_coeff[physx_env_ids, :].cpu()
+            self.root_physx_view.set_dof_friction_properties(friction_props, indices=physx_env_ids.cpu())
 
     def write_joint_dynamic_friction_coefficient_to_sim(
         self,
@@ -891,6 +892,7 @@ class Articulation(AssetBase):
         # set into simulation
         friction_props = self.root_physx_view.get_dof_friction_properties()
         friction_props[physx_env_ids.cpu(), :, 1] = self._data.joint_dynamic_friction_coeff[physx_env_ids, :].cpu()
+        self.root_physx_view.set_dof_friction_properties(friction_props, indices=physx_env_ids.cpu())
 
     def write_joint_viscous_friction_coefficient_to_sim(
         self,
@@ -916,6 +918,7 @@ class Articulation(AssetBase):
         # set into simulation
         friction_props = self.root_physx_view.get_dof_friction_properties()
         friction_props[physx_env_ids.cpu(), :, 2] = self._data.joint_viscous_friction_coeff[physx_env_ids, :].cpu()
+        self.root_physx_view.set_dof_friction_properties(friction_props, indices=physx_env_ids.cpu())
 
     """
     Operations - Setters.