Add velocity_limit_sim and effort_limit_sim to actuator

[jtigue-bdai]

Description

This PR follows up on Issue 1384 and PR 1509 by seperating actuator limits for calculating computed torques from physics solver limits.

Fixes # (#1384)

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)

Screenshots

Please attach before and after screenshots of the change if applicable.

Checklist

• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• 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
• I have added my name to the CONTRIBUTORS.md or my name already exists there