[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,
            ),
        }
    )

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

[Saumya-Karan]

Same issue. Can someone help?