[Proposal] Actuator friction property naming/docs

[RumblingTurtle]

Proposal

friction, dynamic_friction and viscous_friction in actuator parameters should be properly renamed and documented

Motivation

According to the official physx documentation get/set_dof_friction_properties states that the [N,3] tensor actually contains:

    static friction effort
    dynamic friction effort
    viscous friction coefficient

Which are not coefficients but static and dynamic effort values + viscous friction coefficient PhysXAPI spec

Alternatives

You can still use these parameters as is but the current documentation and docstrings are misleading

Build Info

Describe the versions where you are observing the missing feature in:

• Isaac Lab Version: 2.2.1
• Isaac Sim Version: 5.0.0

Additional info

From my experiments USD files which do not have PhysxJointAxisAPI schema applied to the joints ignores _dof_friction_properties setters. I'll submit further info in a separate bug report

Checklist

• I have checked that there is no similar issue in the repo (required)