# Description

Normally the `Articulation` class would search for an articulation root
below `ArticulationCfg.prim_path`. However this fails when multiple
articulation roots are present. This PR allows to explicitly specify an
articulation root prim path with
`ArticulationCfg.articulation_root_prim_path`. If not set it will fall
back to the old search approach.

## Type of change

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

- New feature (non-breaking change which adds functionality)

## 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
- [x] 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

---------
Co-authored-by: Kelly Guo <kellyg@nvidia.com>