[Question] Can't use mouse to apply force even when enable_scene_query_support is True

[LemonFoxmere]

I want to try and apply forces to my quadruped robots when using IsaacLab, and so far I can't seem to be able to do that properly. For context, I basically reused this tutorial script, and I just set enable_scene_query_support=True as suggested by this post.

Thank you for posting this. You can set enable_scene_query_support = True to allow the interactive mode to achieve that, in the SimulationCfg call. Here is an example that uses this class.

Originally posted by @RandomOakForest in #2327

However, this really didn't do much, and I can't shift+LMB drag on the robot (no lines or handles appear). If I try dragging in some other random places and manage to get the force handle to show up, this is the error I get:

2025-11-15T04:11:23Z [772,106ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationLink::addForce(): it is illegal to call this method if PxSceneFlag::eENABLE_DIRECT_GPU_API is enabled!, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationLink.cpp, LINE 247
2025-11-15T04:11:23Z [772,106ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationLink::addTorque(): it is illegal to call this method if PxSceneFlag::eENABLE_DIRECT_GPU_API is enabled!, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationLink.cpp, LINE 266
2025-11-15T04:11:23Z [772,106ms] [Error] [omni.physx.plugin] PhysX error: Exceeding maximum number of PhysX errors (1000). omni.physx will ignore logging subsequent errors to user interface until simulation stop
2025-11-15T04:11:23Z [772,106ms] [Error] [omni.physx.plugin] PhysX error: PxArticulationLink::addForce(): it is illegal to call this method if PxSceneFlag::eENABLE_DIRECT_GPU_API is enabled!, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationLink.cpp, LINE 247

This doesn't necessarily crash IsaacSim, but it doesn't do anything either.
I suspect it has something to do with the simulation running on the GPU, and some config isn't turned on. Does anyone knows how to fix this issue?

[PeterL-NV]

Please use device="cpu" to force the simulation running on CPU to get rid of the error.

[LemonFoxmere]

This solved it. Thanks!