How to retrieve the SensorId for an IMU sensor in a custom plugin?

[xela-95]

Hi, I'm trying to call SetOrientationReference() for an Imu sensor in a custom plugin I implemented.

I have the entity of the (sdf) Imu sensor but I don't understand how I should get a reference to the corresponding gz::sensors::ImuSensor instance and I was not able to find a similar example.