the error:"RobotDynCode' object has no attribute 'base_num""

[Sunday377]

   File "trajectory_optimization/traj_optimizer.py", line 74, in _prepare_opt
self.H = np.zeros((self._dyn.dof * sample_num, self._dyn.base_num))

self.H = np.zeros((self._dyn.dof * sample_num, self._dyn.base_num))
self.H_norm = np.zeros((self._dyn.dof * sample_num, self._dyn.base_num))
the error:"RobotDynCode' object has no attribute 'base_num""