# Description

Earlier we were copying the whole `ArticulationView.initialize()` method
from Isaac Sim since it doesn't work with our initialization callback
hooks. Since this was bulking up the code and requires us to keep
duplicating their function, this MR replaces the current fix with some
tricks that work in a less bulky way.

Additionally, the MR fixes the property name `default_root_state_w` to
`default_root_state` since the latter is more correct (environment
origin instead of world origin).

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)

## Checklist

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