Updates actuator configs for Franka arm (#2492)

# Description

Fixed name of keyword args in implicit actuator config in order to
remove 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.
`

## 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`
- [ ] I have made corresponding changes to the documentation
- [x] 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

source/isaaclab_assets/isaaclab_assets/robots/franka.py

@@ -50,22 +50,22 @@ FRANKA_PANDA_CFG = ArticulationCfg(
     actuators={
         "panda_shoulder": ImplicitActuatorCfg(
             joint_names_expr=["panda_joint[1-4]"],
-            effort_limit=87.0,
-            velocity_limit=2.175,
+            effort_limit_sim=87.0,
+            velocity_limit_sim=2.175,
             stiffness=80.0,
             damping=4.0,
         ),
         "panda_forearm": ImplicitActuatorCfg(
             joint_names_expr=["panda_joint[5-7]"],
-            effort_limit=12.0,
-            velocity_limit=2.61,
+            effort_limit_sim=12.0,
+            velocity_limit_sim=2.61,
             stiffness=80.0,
             damping=4.0,
         ),
         "panda_hand": ImplicitActuatorCfg(
             joint_names_expr=["panda_finger_joint.*"],
-            effort_limit=200.0,
-            velocity_limit=0.2,
+            effort_limit_sim=200.0,
+            velocity_limit_sim=0.2,
             stiffness=2e3,
             damping=1e2,
         ),