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As the name implies, fiducial_msgs::FiducialTransformArray is an array (or list).

You cannot access the field of a single element without first indexing into the array.

h.transforms.fiducial_id does indeed not exist.

h.transforms[i].fiducial_id, where i ∈ ℕ, does exist. It would mean you're accessing the fiducial_id field of the i-th element in h.transforms.

For a related question (but with rospy), see #q359824.