# Description

There was a lot of code duplication happening inside the `Articulation`
class. This MR takes a step towards untangling some of the confusion
that gets caused by default and non-default data attributes inside the
class.

The MR includes the following changes:

* Removes operations where we set the data to "torch.zeros" and in the
next function assign them the value from PhysX. This made the code
bulkier and complex for no reason.
* Adds docstring clarifications to make it clear what is what. The
default values are now whatever the user configures from their
configuration of the articulation class.
* Updates the `soft_joint_pos_limits` when the user writes the joint pos
limits to the simulator.
* Renames parameters for a consistent nomenclature:
* ``joint_velocity_limits`` → ``joint_vel_limits`` (to match attribute
``joint_vel`` and ``joint_vel_limits``)
* ``joint_limits`` → ``joint_pos_limits`` (to match attribute
``joint_pos`` and ``soft_joint_pos_limits``)
  * ``default_joint_limits`` → ``default_joint_pos_limits``
* ``write_joint_limits_to_sim`` → ``write_joint_position_limit_to_sim``
  * ``joint_friction`` → ``joint_friction_coeff``
  * ``default_joint_friction`` → ``default_joint_friction_coeff``
* ``write_joint_friction_to_sim`` →
``write_joint_friction_coefficient_to_sim``
  * ``fixed_tendon_limit`` → ``fixed_tendon_pos_limits``
  * ``default_fixed_tendon_limit`` → ``default_fixed_tendon_pos_limits``
  * ``set_fixed_tendon_limit`` → ``set_fixed_tendon_position_limit``

Fixes #1583, #1904

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- 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
- [ ] 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: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>