WheeledRobot error "_num_wheel_dof"

Omniverse Isaac Sim
1

I’m trying to run a simple interactive code inside Isaac Sim to get the robot to move. However, I encounter the following error:

AttributeError: "WheeledRobot object has no attribute "_num_wheel_dof"

Code:

from omni.isaac.core.scenes import Scene
from omni.isaac.core.prims import XFormPrimView
from omni.isaac.core.utils.nucleus import get_assets_root_path
import omni.isaac.core.utils.stage as stage_utils
from omni.isaac.core.robots import Robot
from omni.isaac.wheeled_robots.robots import WheeledRobot
import numpy as np
from omni.isaac.core.utils.types import ArticulationAction
from omni.isaac.core.articulations import Articulation

assets_root_path = get_assets_root_path()
asset_path = assets_root_path + "/Isaac/Robots/Clearpath/Dingo/dingo.usd"

scene = Scene()

stage_utils.add_reference_to_stage(usd_path=asset_path, prim_path="/World/Fancy_Robot")

jetbot = scene.add(
        WheeledRobot(
            prim_path="/World/Fancy_Robot",
            name="fancy_robot",
            wheel_dof_names=["left_wheel_joint", "right_wheel_joint"],
            create_robot=True,
            usd_path=asset_path,
        )
    )

action = ArticulationAction(joint_velocities = np.array([1.14, 1.42]))
jetbot.apply_wheel_actions(action)

Any help would be appreciated.

3

Maybe you can try “world.reset_async()” before your action

5

Sorry, Does it fixed? I have a same error when I am trying to do some test.
Thanks!