Fixes docstrings inconsistencies the code (#2112)

# Description

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* Fixed the mismatch in :class:`JointPositionToLimitsActionCfg`
docstring which was incorrectly referring to
``JointPositionWithinLimitsAction`` instead of
``JointPositionToLimitsAction``.
* Fixed the issue of the :attr:`solver_velocity_iteration_count`
docstring in :class:`ArticulationRootPropertiesCfg` being incorrect.
* Fixed the mismatch between the default value of :attr:`use_cache` in
:class:`TerrainGeneratorCfg` and its docstring. Currently, the default
value is set to ``False``.

Fixes #1330, #1377, #1827 

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## Type of change

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

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## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] 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

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---------
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

CONTRIBUTORS.md

@@ -63,6 +63,7 @@ Guidelines for modifications:
 * Jia Lin Yuan
 * Jinghuan Shang
 * Jingzhou Liu
+* Jinqi Wei
 * Johnson Sun
 * Kaixi Bao
 * Kourosh Darvish

source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py

@@ -103,7 +103,7 @@ class JointEffortActionCfg(JointActionCfg):
 class JointPositionToLimitsActionCfg(ActionTermCfg):
     """Configuration for the bounded joint position action term.
 
-    See :class:`JointPositionWithinLimitsAction` for more details.
+    See :class:`JointPositionToLimitsAction` for more details.
     """
 
     class_type: type[ActionTerm] = joint_actions_to_limits.JointPositionToLimitsAction

source/isaaclab/isaaclab/sim/schemas/schemas_cfg.py

@@ -29,7 +29,7 @@ class ArticulationRootPropertiesCfg:
     """Solver position iteration counts for the body."""
 
     solver_velocity_iteration_count: int | None = None
-    """Solver position iteration counts for the body."""
+    """Solver velocity iteration counts for the body."""
 
     sleep_threshold: float | None = None
     """Mass-normalized kinetic energy threshold below which an actor may go to sleep."""

source/isaaclab/isaaclab/terrains/terrain_generator_cfg.py

@@ -189,7 +189,7 @@ class TerrainGeneratorCfg:
     """
 
     use_cache: bool = False
-    """Whether to load the sub-terrain from cache if it exists. Defaults to True.
+    """Whether to load the sub-terrain from cache if it exists. Defaults to False.
 
     If enabled, the generated terrains are stored in the cache directory. When generating terrains, the cache
     is checked to see if the terrain already exists. If it does, the terrain is loaded from the cache. Otherwise,