[Question]'Articulation' object has no attribute '_data'.

[cjoattesollo]

Hi, everyone.

I configured my own robot using ArticulationCfg and tried to get the default_joint_pos or joint_vel from robot.data.default_joint_pos.clone(). However, I encountered the following error:

joint_pos = robot.data.default_joint_pos.clone()
  File "./IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py", line 107, in data
    return self._data
AttributeError: 'Articulation' object has no attribute '_data'. Did you mean: 'data'?

But, I haven't seen the issue before.

Does anyone know the solutions about this?

Thank you in advance.

[cjoattesollo]

Hi,

Solved with checking Fix Base Link in URDF Importer when importing.
But, It doesn't work with

articulation_props=sim_utils.ArticulationRootPropertiesCfg(
                                                                   fix_root_link=True,
)

Is it a kind of bug? @Mayankm96

[Mayankm96]

Probably before this bug another bug happened where initialization callback failed. Can you share the log file?