[Question] 'Articulation' object has no attribute 'actuators'

[kokoroA]

I am trying to modify the quadcopter Direct RL sample based on the official documentation to train an original drone USD model. However, I am encountering the following error.

File "/home/itolab/documents/IsaacLab_new/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py", line 167, in reset
    for actuator in self.actuators.values():
AttributeError: 'Articulation' object has no attribute 'actuators'

Here is my ArticulationCfg and USD model hierarchy .

robot = ArticulationCfg(
        prim_path="/World/envs/env_.*/Robot",
        spawn=sim_utils.UsdFileCfg(
            usd_path="/home/itolab/documents/Stampfly_parts/usd/Stampfly_joint.usd",
            rigid_props=sim_utils.RigidBodyPropertiesCfg(
            disable_gravity=False,
            max_depenetration_velocity=10.0,
            enable_gyroscopic_forces=True,
        ),
        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
            enabled_self_collisions=False,
            solver_position_iteration_count=4,
            solver_velocity_iteration_count=0,
            sleep_threshold=0.005,
            stabilization_threshold=0.001,
        ),
        copy_from_source=False,
        ),
        init_state=ArticulationCfg.InitialStateCfg(
            pos=(0.0,0.0,0.5),
            joint_pos={
                ".*": 0.0,
            },
            joint_vel={
                "FL_joint":-200,
                "FR_joint":200,
                "RL_joint":200,
                "RR_joint":-200,
            },
        ),
        actuators={
            "dummy": ImplicitActuatorCfg(
                joint_names_expr=[".*"],
                stiffness=0.0,
                damping=0.0,
            ),
        }
    )

And here is log file

kit_20241004_144910.log

Does anyone know the solutions about this?
Thank you in advance.

[Saumya-Karan]

def init(self, cfg: ArticulationCfg):
"""Initialize the articulation.

Args:
    cfg: A configuration instance.
"""
super().__init__(cfg)
self.actuators = {}  # Initialize actuators as an empty dictionary
self._has_implicit_actuators = False  # Initialize the attribute to prevent AttributeError

This solves the error in my case.

[Zhenghua-NCSU]

Thank you for your answer, I tried it the way you did but it doesn't work, can you help me to see if I modified the code correctly?

class HexaEnv(LocomotionEnv):
cfg: HexaEnvCfg

def __init__(self, cfg: HexaEnvCfg, render_mode: str | None = None, **kwargs):
    super().__init__(cfg, render_mode, **kwargs)
    self.actuators = {}  # Initialize actuators as an empty dictionary
    self._has_implicit_actuators = False  # Initialize the attribute to prevent AttributeError

The content of the error is exactly the same as the publisher's error.

[zxfever]

hey bro, face the same error, did you fix it?

[dantes-ai]

u have this in ur setup scene?

def _setup_scene(self):
self.robot = self.cfg.robot.class_type(self.cfg.robot)
self.scene.articulations["robot"] = self.robot

[zxfever]

hey bro, face the same error, did you fix it?

[Mayankm96]

Can you please share the kit log file?

https://isaac-sim.github.io/IsaacLab/main/source/refs/troubleshooting.html#checking-the-internal-logs-from-the-simulator

[XZDang13]

The main issue is how you define the init_state.
The value of joint_vel should be float not int.
joint_vel={
"FL_joint":-200.0,
"FR_joint":200.0,
"RL_joint":200.0,
"RR_joint":-200.0,
},
),

For any value in init_state, I guess they should all be float.