Earlier, we were depending on Isaac Sim's for the articulation action
type. The type-hinting for the attributes in there used numpy and list.
However, the Isaac Lab framework uses torch tensors everywhere so this
led to pylance complaining about the types.

The MR makes a drop in replacement with the correct types for our
usecases.

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

- [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