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

[jo-choi]

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.

[jo-choi]

Solved with setting the default prim to the robot as commented by @Overdamp .
Thanks!

[Mayankm96]

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

[Overdamp]

Same problem.I have already fix the problem by myself by setting the default prim to the robot.

[EricPedley]

How would you do this when creating the scene programatically through a InteractiveSceneCfg object like in this tutorial?
Nevermind, it seems like for the example I'm trying to run, the robot is already the default prim when I just open the usd file on its own. However, I don't get this error when I run my custom script based on the tutorial with a different robot, so I'm giving up investigating further. (https://github.com/EricPedley/so101/blob/eb0b7d4d134682a6f12c0bdc0194fbc6096165cd/isaac_lab_main.py)