[Question] Why do I get an error about no attribute 'actuators' when I define a D6Joint in USD?

[VinHo-C]

AttributeError: 'Articulation' object has no attribute 'actuators'

led2: ArticulationCfg = ArticulationCfg(
    prim_path="{ENV_REGEX_NS}/led2",
    spawn=sim_utils.UsdFileCfg(
        usd_path="./LEDdeng.usd",
        scale=np.array([0.001,0.001,0.001]),
    
    rigid_props=sim_utils.RigidBodyPropertiesCfg(
        disable_gravity=False,
        retain_accelerations=False,
        linear_damping=0.0,
        angular_damping=0.0,
        max_linear_velocity=1000.0,
        max_angular_velocity=1000.0,
        max_depenetration_velocity=1.0,
    ),
    articulation_props=sim_utils.ArticulationRootPropertiesCfg(
        enabled_self_collisions=True, solver_position_iteration_count=4, solver_velocity_iteration_count=0
    ),
    activate_contact_sensors=True,
    ),
    init_state=ArticulationCfg.InitialStateCfg(
        pos=(0.10, -0.20, 0.6),
        rot=(0.707,0.707,0.0,0.0),
    ),
    actuators={
        "D6joint":ImplicitActuatorCfg(
            joint_names_expr=["D6joint"],
            effort_limit=2000,
            velocity_limit=100.0,
            stiffness={
                "D6joint": 4000.0,
            },
            damping={
                "D6joint": 500.0,
            },
            armature={
                "D6joint": 0.01,
            },
        )
    }
)    

[RandomOakForest]

Thank you for posting this. The D6 joint is currently not supported in Isaac Lab.