diff --git a/test/test_env.py b/test/test_env.py
index 04bf18c7c8c..1f95a55c2c7 100644
--- a/test/test_env.py
+++ b/test/test_env.py
@@ -3405,16 +3405,16 @@ def test_tictactoe_env_single(self):
         )
         assert r.shape == (5, 100)
 
-    def test_pendulum_env(self):
-        env = PendulumEnv(device=None)
-        assert env.device is None
-        env = PendulumEnv(device="cpu")
-        assert env.device == torch.device("cpu")
+    @pytest.mark.parametrize("device", [None, *get_default_devices()])
+    def test_pendulum_env(self, device):
+        env = PendulumEnv(device=device)
+        assert env.device == device
         check_env_specs(env)
+
         for _ in range(10):
             r = env.rollout(10)
             assert r.shape == torch.Size((10,))
-            r = env.rollout(10, tensordict=TensorDict(batch_size=[5]))
+            r = env.rollout(10, tensordict=TensorDict(batch_size=[5], device=device))
             assert r.shape == torch.Size((5, 10))
 
 
diff --git a/torchrl/envs/custom/pendulum.py b/torchrl/envs/custom/pendulum.py
index e2007227127..579faecc3c6 100644
--- a/torchrl/envs/custom/pendulum.py
+++ b/torchrl/envs/custom/pendulum.py
@@ -220,7 +220,7 @@ class PendulumEnv(EnvBase):
 
     def __init__(self, td_params=None, seed=None, device=None):
         if td_params is None:
-            td_params = self.gen_params()
+            td_params = self.gen_params(device=self.device)
 
         super().__init__(device=device)
         self._make_spec(td_params)
@@ -273,7 +273,7 @@ def _reset(self, tensordict):
             # if no ``tensordict`` is passed, we generate a single set of hyperparameters
             # Otherwise, we assume that the input ``tensordict`` contains all the relevant
             # parameters to get started.
-            tensordict = self.gen_params(batch_size=batch_size)
+            tensordict = self.gen_params(batch_size=batch_size, device=self.device)
 
         high_th = torch.tensor(self.DEFAULT_X, device=self.device)
         high_thdot = torch.tensor(self.DEFAULT_Y, device=self.device)
@@ -355,12 +355,12 @@ def make_composite_from_td(td):
         return composite
 
     def _set_seed(self, seed: int):
-        rng = torch.Generator()
+        rng = torch.Generator(device=self.device)
         rng.manual_seed(seed)
         self.rng = rng
 
     @staticmethod
-    def gen_params(g=10.0, batch_size=None) -> TensorDictBase:
+    def gen_params(g=10.0, batch_size=None, device=None) -> TensorDictBase:
         """Returns a ``tensordict`` containing the physical parameters such as gravitational force and torque or speed limits."""
         if batch_size is None:
             batch_size = []
@@ -379,6 +379,7 @@ def gen_params(g=10.0, batch_size=None) -> TensorDictBase:
                 )
             },
             [],
+            device=device,
         )
         if batch_size:
             td = td.expand(batch_size).contiguous()