[Bug maybe?] Two IMU sensor in one Articulation() break IMU read omnigraph

Omniverse Isaac Sim
1

I discovered the bug when simulate a Intel RealSense camera with a IMU sensor.

I got the error:
2024-10-04 10:50:03 [Error] [omni.physx.tensors.plugin] Incompatible size of velocity tensor in function getVelocities: expected total size 6, received total size 12 with shape (2, 6)

I did not test if the case multiple Articulation() with single IMU would break the sensor reading node

2

Thank you for reporting this potential bug with multiple IMU sensors in a single Articulation. To help investigate and potentially resolve this issue, it would be extremely helpful if you could provide more detailed steps to reproduce the problem. This will allow us to replicate the issue and provide more accurate assistance.

3

I attached two usd files, in Isaac Sim 4.2 version

  • They both use Jetbot
  • One with Intel RealSense (1 imu inside), and another imu sensor, both in chassis prim.
  • The other usd file has Intel RealSense and another imu sensor attached with the jetbot using a fixed joint. I had to add rigid body attribute for this approach to work.
  • Both has OG to read imu sensor.

2_imu.zip (9.2 KB)

By disable the imu sensor in the RealSense camera, the error disappear. But I did not expect for the IMU sensor in RealSense Camera at first

Thank you for your time.