# Description

Since we override a lot of the functions from RigidObject inside the
Articulation class, we don't need to rely on inheritance anymore.
Duplicacy in the code makes it easier to understand the two classes'
functionalities without severely added overhead from the maintenance
side. Moreover, conceptually, it can be motivated that the two are
independent concepts.

This MR decouples the rigid object and articulation concepts in the
framework.

## Type of change

- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

## Checklist

- [x] 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
- [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: David Hoeller <dhoeller@nvidia.com>