# Description

Previously in the Articulation class, there was a single method for
setting joint state. However, it is desirable at times to only set joint
position or velocity. For instance, for randomization events that pushes
a joint by adding a random velocity to it.

This MR separates the `write_joint_state_to_sim` into separate setters
for joint positions and joint velocities. This goes inline with the
method to set root pose, root velocity or the root state.

## Type of change

- New feature (non-breaking change which adds functionality)

## 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

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Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>