Problem with reading the franka joint states

Hi,

I am building our application on top of the sample Leonardo Preview- Simple Stack. To read the current joint state of the Franka, I used the command in the Dynamic Control tutorial:
joint_states = self.dc.get_articulation_dof_states(self.ar, _dynamic_control.STATE_ALL)).

However, the returned joint states for all 9 joints are the same as shown below. (Interestingly, 1.8115e-05 is the joint state of the “panda_joint1”)
((1.8115e-05, 0.) (1.8115e-05, 0.) (1.8115e-05, 0.) (1.8115e-05, 0.) (1.8115e-05, 0.) (1.8115e-05, 0.) (1.8115e-05, 0.) (1.8115e-05, 0.)(1.8115e-05, 0.))

I am using the older version of Isaac (2020.2) on Ubunto 18. May I ask what might be the potential reason for causing this problem? Thank you!

To test other dof information, I print the number of joints and dof_properties using:
num_dofs = self.dc.get_articulation_dof_count(self.ar)
dof_props = self.dc.get_articulation_dof_properties(self.ar)
The output looks ok:
9 Joints
[(1, True, -2.8973, 2.8973, 1, 3.7700000e+02, 8700., 60000., 3000.)
(1, True, -1.7628, 1.7628, 1, -4.1723251e-08, 8700., 60000., 3000.)
(1, True, -2.8973, 2.8973, 1, 3.8330078e-01, 8700., 60000., 3000.)
(1, True, -3.0718, -0.0698, 1, 1.3867188e-01, 8700., 60000., 3000.)
(1, True, -2.8973, 2.8973, 1, 0.0000000e+00, 1200., 25000., 3000.)
(1, True, -0.0175, 3.7525, 1, 0.0000000e+00, 1200., 15000., 3000.)
(1, True, -2.8973, 2.8973, 1, 0.0000000e+00, 1200., 5000., 3000.)
(2, True, 0. , 4. , 1, 0.0000000e+00, 1200., 6000., 1000.)
(2, True, 0. , 4. , 1, 0.0000000e+00, 1200., 6000., 1000.)]

Allan