Fixes indexing bug in write_joint_limits_to_sim

[kellyguo11]

Description

This change fixes bugs in Articulation class write_joint_limits_to_sim method, where previously env_ids and joint_ids were not taken into account when ids passed in are not None.

Type of change

• Bug fix (non-breaking change which fixes an issue)

Checklist

• [x] I have run the pre-commit checks with ./isaaclab.sh --format
• [ ] 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