# Description

This MR renames the action term names inside the manager-based
lift-manipulation task. Earlier, they were called
``body_joint_pos`` and ``gripper_joint_pos``. This made it confusing
since they were also being set to IK instead of joint position action
terms. Now, they are called ``arm_action`` and ``gripper_action``.

This makes it consistent with other manipulation tasks. 

## Type of change

- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

## 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
- [ ] 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