# Description

Currently, the joint parameters must always be specified from the
user-defined configurations. Setting them to None makes them go to zero
(for stiffness and damping) and infinity (for limits). This is not great
since many assets may have some values in the USD file that they have
tuned using inspection tools in Omniverse.

This MR changes the behavior of `None` in the actuator configuration to
load default values provided as inputs to the actuator class. It also
loads other joint drive parameters such as friction and armature.

## 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)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] 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