The virtual disks are not comparible between ESXi and hosted products like VMware Workstation, Player or Fusion that is why you will need to either export the VM as an OVF/OVA or use converter to bring it across -
Weinstien that's not entirely correct we were able to import a VMware Fusion VM into our production ESXi 5.1 environment. We had to thick provision the VMDK via the command line after we can copied it from Fusion to ESXi 5.1.
I had a similar issue and fixed it this way:
1. Run VMWare vCenter Converter and convert the powered down (obviously bc it won't boot) to VMWare Workstation 8. I did this on my vCenter machine to speed things up. It writes the workstation files locally.
2. Once the conversion completes, run vCenter Converter again.
3. Convert the Workstation 8 machine you just created to a Virtual Infrastructure Machine (VIM) pushing it BACK to ESX.
4. Once this is complete, edit the machine and fix any NIC changes (it lost which network to use for me).
5. Power on the machine. Voila!
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I actually had this same error after I imported a VMDK and a VMX file into the datastore. I added the VMX to the inventory and tried to power it on and received the error above "scsi0:0: Unsupported or invalid disk type 22". I reviewed the edit settings and noticed that the disk had 0mb provisioned space. So I migrated it to another datastore and it provisioned the 60gb space and I was able to boot up the VM normally.
This was in a vSphere 5.5 environment.
It solved a bis issue for me too.