Fixes warnings from depreciated configuration attribute names (#348)

## 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

docs/source/tutorials/01_assets/add_new_robot.rst

@@ -103,6 +103,10 @@ for the direct workflow: by defining an ``InteractiveSceneCfg`` containing the a
     :lines: 101 - 158
 
 
+.. note::
+
+      You may see a warning that not all actuators are configured! This is expected because we don't handle the gripper for this tutorial.
+
 .. figure:: ../../_static/tutorials/tutorial_add_new_robot_result.jpg
     :align: center
     :figwidth: 100%

scripts/tutorials/01_assets/add_new_robot.py

@@ -59,22 +59,22 @@ DOFBOT_CONFIG = ArticulationCfg(
     actuators={
         "front_joints": ImplicitActuatorCfg(
             joint_names_expr=["joint[1-2]"],
-            effort_limit=100.0,
-            velocity_limit=100.0,
+            effort_limit_sim=100.0,
+            velocity_limit_sim=100.0,
             stiffness=10000.0,
             damping=100.0,
         ),
         "joint3_act": ImplicitActuatorCfg(
             joint_names_expr=["joint3"],
-            effort_limit=100.0,
-            velocity_limit=100.0,
+            effort_limit_sim=100.0,
+            velocity_limit_sim=100.0,
             stiffness=10000.0,
             damping=100.0,
         ),
         "joint4_act": ImplicitActuatorCfg(
             joint_names_expr=["joint4"],
-            effort_limit=100.0,
-            velocity_limit=100.0,
+            effort_limit_sim=100.0,
+            velocity_limit_sim=100.0,
             stiffness=10000.0,
             damping=100.0,
         ),