[Question] Device error when using Physics Based IMU Sensor in Isaac Lab

[shaoxiang]

Question

It is inevitable to use the rich resources of Isaac Sim in Isaac Lab, but when I was using IMU sensors, an error occurred. Whether I use Python from IMU API omni.isaac.sensor to import IMUSensor get_current_frame or use OmniGarph IMU read node, The following errors always occur:

[Error] [omni.physx.tensors.plugin] Incompatible device of velocity tensor in function omni::physx::tensors::GpuRigidBodyView::getVelocities: expected device 0, received device -1

I have carefully read the tutorial on using IMU sensors: https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_isaac_imu_sensor.html The sensor data read is also in CUDA Tensor, this error is really strange.And the IMU data I can read is as follows. Note that the ang_vel data is all 0.0:

imu_data: {‘time’: 6.690000057220459, ‘physics_step’: 670.0, ‘lin_acc’: tensor([6.0603, 4.2792, 6.4186], device=‘cuda:0’), ‘ang_vel’: tensor([0., 0., 0.], device=‘cuda:0’), ‘orientation’: tensor([-0.5061, 0.1487, 0.3882, 0.7556], device=‘cuda:0’)}

The data is in pytorch tensor format and is in cuda: 0 device.