Fixes docstrings inconsistencies the code (isaac-sim#2112)

# Description

<!--
Thank you for your interest in sending a pull request. Please make sure
to check the contribution guidelines.

Link:
https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html
-->

* 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 isaac-sim#1330, isaac-sim#1377, isaac-sim#1827 

<!-- As a practice, it is recommended to open an issue to have
discussions on the proposed pull request.
This makes it easier for the community to keep track of what is being
developed or added, and if a given feature
is demanded by more than one party. -->

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

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

## Screenshots

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

<!--
Example:

| Before | After |
| ------ | ----- |
| _gif/png before_ | _gif/png after_ |

To upload images to a PR -- simply drag and drop an image while in edit
mode and it should upload the image directly. You can then paste that
source into the above before/after sections.
-->

## 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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

---------

Co-authored-by: Mayank Mittal <[email protected]>

Author: 2 people

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,