Fix typos and docstring inconsistencies across environment and utility files (#3011)

# Description

Fixes #1910,  #3010

### ✅ Typo Fixes

- Replaced `tome` → `time` in the following files:
  - `velocity_command.py`
  - `quadcopter_env.py`
  - `pre_trained_policy_action.py`
  - `pose_command.py`
  - `pose_2d_command.py`
  - `imu.py`
  - `contact_sensor.py`

- Corrected article usage `an numpy` → `a numpy` in:
  - `manager_based_rl_env.py`
  - `direct_rl_env.py`
  - `direct_marl_env.py`

- Removed repeated determiners (`the the`, `then then`) in:
  - `visualization_markers.py`

- Fixed incorrect expansion of the abbreviation **TGS** (In issue 1910):
- Changed **TGS (Truncated Gauss-Seidel)** → **TGS (Temporal
Gauss-Seidel)**

---

### 🛠️ Docstring Fix

- In `visualization_markers.py`, the `_process_prototype_prim` function
had a docstring referencing `prim_path` and `stage`, which are not part
of the function signature.
The docstring has been updated to correctly document only the `prim`
argument.

> Note: The original docstring seems to have been copied from
[`utils.py`](https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab/isaaclab/sim/utils.py)
without modification.

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## Type of change

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

## Screenshots


## Checklist

- [] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [X] 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
- [] 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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source/isaaclab/isaaclab/envs/direct_marl_env.py

@@ -470,7 +470,7 @@ class DirectMARLEnv(gym.Env):
         By convention, if mode is:
 
         - **human**: Render to the current display and return nothing. Usually for human consumption.
-        - **rgb_array**: Return an numpy.ndarray with shape (x, y, 3), representing RGB values for an
+        - **rgb_array**: Return a numpy.ndarray with shape (x, y, 3), representing RGB values for an
           x-by-y pixel image, suitable for turning into a video.
 
         Args:

source/isaaclab/isaaclab/envs/direct_rl_env.py

@@ -425,7 +425,7 @@ class DirectRLEnv(gym.Env):
         By convention, if mode is:
 
         - **human**: Render to the current display and return nothing. Usually for human consumption.
-        - **rgb_array**: Return an numpy.ndarray with shape (x, y, 3), representing RGB values for an
+        - **rgb_array**: Return a numpy.ndarray with shape (x, y, 3), representing RGB values for an
           x-by-y pixel image, suitable for turning into a video.
 
         Args:

source/isaaclab/isaaclab/envs/manager_based_rl_env.py

@@ -248,7 +248,7 @@ class ManagerBasedRLEnv(ManagerBasedEnv, gym.Env):
         By convention, if mode is:
 
         - **human**: Render to the current display and return nothing. Usually for human consumption.
-        - **rgb_array**: Return an numpy.ndarray with shape (x, y, 3), representing RGB values for an
+        - **rgb_array**: Return a numpy.ndarray with shape (x, y, 3), representing RGB values for an
           x-by-y pixel image, suitable for turning into a video.
 
         Args:

source/isaaclab/isaaclab/envs/mdp/commands/pose_2d_command.py

@@ -121,7 +121,7 @@ class UniformPose2dCommand(CommandTerm):
         self.heading_command_b[:] = wrap_to_pi(self.heading_command_w - self.robot.data.heading_w)
 
     def _set_debug_vis_impl(self, debug_vis: bool):
-        # create markers if necessary for the first tome
+        # create markers if necessary for the first time
         if debug_vis:
             if not hasattr(self, "goal_pose_visualizer"):
                 self.goal_pose_visualizer = VisualizationMarkers(self.cfg.goal_pose_visualizer_cfg)

source/isaaclab/isaaclab/envs/mdp/commands/pose_command.py

@@ -127,7 +127,7 @@ class UniformPoseCommand(CommandTerm):
         pass
 
     def _set_debug_vis_impl(self, debug_vis: bool):
-        # create markers if necessary for the first tome
+        # create markers if necessary for the first time
         if debug_vis:
             if not hasattr(self, "goal_pose_visualizer"):
                 # -- goal pose

source/isaaclab/isaaclab/envs/mdp/commands/velocity_command.py

@@ -163,7 +163,7 @@ class UniformVelocityCommand(CommandTerm):
         # set visibility of markers
         # note: parent only deals with callbacks. not their visibility
         if debug_vis:
-            # create markers if necessary for the first tome
+            # create markers if necessary for the first time
             if not hasattr(self, "goal_vel_visualizer"):
                 # -- goal
                 self.goal_vel_visualizer = VisualizationMarkers(self.cfg.goal_vel_visualizer_cfg)

source/isaaclab/isaaclab/markers/visualization_markers.py

@@ -66,9 +66,9 @@ class VisualizationMarkers:
 
     The class parses the configuration to create different the marker prototypes into the stage. Each marker
     prototype prim is created as a child of the :class:`UsdGeom.PointInstancer` prim. The prim path for the
-    the marker prim is resolved using the key of the marker in the :attr:`VisualizationMarkersCfg.markers`
+    marker prim is resolved using the key of the marker in the :attr:`VisualizationMarkersCfg.markers`
     dictionary. The marker prototypes are created using the :meth:`isaacsim.core.utils.create_prim`
-    function, and then then instanced using :class:`UsdGeom.PointInstancer` prim to allow creating multiple
+    function, and then instanced using :class:`UsdGeom.PointInstancer` prim to allow creating multiple
     instances of the marker prims.
 
     Switching between different marker prototypes is possible by calling the :meth:`visualize` method with
@@ -372,9 +372,7 @@ class VisualizationMarkers:
         to see the marker prims on camera images.
 
         Args:
-            prim_path: The prim path to check.
-            stage: The stage where the prim exists.
-                Defaults to None, in which case the current stage is used.
+            prim: The prim to check.
         """
         # check if prim is valid
         if not prim.IsValid():

source/isaaclab/isaaclab/sensors/contact_sensor/contact_sensor.py

@@ -391,7 +391,7 @@ class ContactSensor(SensorBase):
         # set visibility of markers
         # note: parent only deals with callbacks. not their visibility
         if debug_vis:
-            # create markers if necessary for the first tome
+            # create markers if necessary for the first time
             if not hasattr(self, "contact_visualizer"):
                 self.contact_visualizer = VisualizationMarkers(self.cfg.visualizer_cfg)
             # set their visibility to true

source/isaaclab/isaaclab/sensors/imu/imu.py

@@ -219,7 +219,7 @@ class Imu(SensorBase):
         # set visibility of markers
         # note: parent only deals with callbacks. not their visibility
         if debug_vis:
-            # create markers if necessary for the first tome
+            # create markers if necessary for the first time
             if not hasattr(self, "acceleration_visualizer"):
                 self.acceleration_visualizer = VisualizationMarkers(self.cfg.visualizer_cfg)
             # set their visibility to true

source/isaaclab/isaaclab/sim/simulation_cfg.py

@@ -40,7 +40,7 @@ class PhysxCfg:
     Available solvers:
 
     * :obj:`0`: PGS (Projective Gauss-Seidel)
-    * :obj:`1`: TGS (Truncated Gauss-Seidel)
+    * :obj:`1`: TGS (Temporal Gauss-Seidel)
     """
 
     min_position_iteration_count: int = 1

source/isaaclab_tasks/isaaclab_tasks/direct/quadcopter/quadcopter_env.py

@@ -234,7 +234,7 @@ class QuadcopterEnv(DirectRLEnv):
         self._robot.write_joint_state_to_sim(joint_pos, joint_vel, None, env_ids)
 
     def _set_debug_vis_impl(self, debug_vis: bool):
-        # create markers if necessary for the first tome
+        # create markers if necessary for the first time
         if debug_vis:
             if not hasattr(self, "goal_pos_visualizer"):
                 marker_cfg = CUBOID_MARKER_CFG.copy()

source/isaaclab_tasks/isaaclab_tasks/manager_based/navigation/mdp/pre_trained_policy_action.py

@@ -107,7 +107,7 @@ class PreTrainedPolicyAction(ActionTerm):
         # set visibility of markers
         # note: parent only deals with callbacks. not their visibility
         if debug_vis:
-            # create markers if necessary for the first tome
+            # create markers if necessary for the first time
             if not hasattr(self, "base_vel_goal_visualizer"):
                 # -- goal
                 marker_cfg = GREEN_ARROW_X_MARKER_CFG.copy()