Device error when using Physics Based IMU Sensor in Isaac Lab

I hope to use Physics Based IMU Sensors in isaac lab, I follow the method in this tutorial to add IMU sensors and use get_current_frame() to read IMU data.
Using Sensors: IMU — Omniverse IsaacSim latest documentation (
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.

But at the same time, I also got an error:

> 2024-07-09 06:05:07 [217,200ms] [Error] [omni.physx.tensors.plugin] Incompatible device of velocity tensor in function omni::physx::tensors::GpuRigidBodyView::getVelocities: expected device 0, received device -1