Uses the configuration to obtain the simulation device

scripts/benchmarks/benchmark_non_rl.py

@@ -113,6 +113,7 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, agen
     # override configurations with non-hydra CLI arguments
     env_cfg.scene.num_envs = args_cli.num_envs if args_cli.num_envs is not None else env_cfg.scene.num_envs
     env_cfg.sim.device = args_cli.device if args_cli.device is not None else env_cfg.sim.device
+    env_cfg.seed = args_cli.seed if args_cli.seed is not None else env_cfg.sim.seed
 
     # process distributed
     world_size = 1

source/isaaclab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.46.3"
+version = "0.46.4"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+0.46.4 (2025-10-06)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Fixed :attr:`~isaaclab.sim.simulation_context.SimulationContext.device` to return the device from the configuration.
+  Previously, it was returning the device from the simulation manager, which was causing a performance overhead.
+
+
 0.46.3 (2025-09-17)
 ~~~~~~~~~~~~~~~~~~~
 
@@ -10,6 +20,7 @@ Added
 * Modified setter to support for viscous and dynamic joint friction coefficients in articulation based on IsaacSim 5.0.
 * Added randomization of viscous and dynamic joint friction coefficients in event term.
 
+
 0.46.2 (2025-09-13)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/sim/simulation_context.py

@@ -26,6 +26,7 @@
 import omni.physx
 import omni.usd
 from isaacsim.core.api.simulation_context import SimulationContext as _SimulationContext
+from isaacsim.core.simulation_manager import SimulationManager
 from isaacsim.core.utils.carb import get_carb_setting, set_carb_setting
 from isaacsim.core.utils.viewports import set_camera_view
 from isaacsim.core.version import get_version
@@ -283,6 +284,14 @@ def __init__(self, cfg: SimulationCfg | None = None):
                 stage=self._initial_stage,
             )
 
+        # obtain the parsed device
+        # This device should be the same as "self.cfg.device". However, for cases, where users specify the device
+        # as "cuda" and not "cuda:X", then it fetches the current device from SimulationManager.
+        # Note: Since we fix the device from the configuration and don't expect users to change it at runtime,
+        #   we can obtain the device once from the SimulationManager.get_physics_sim_device() function.
+        #   This reduces the overhead of calling the function.
+        self._physics_device = SimulationManager.get_physics_sim_device()
+
     def _apply_physics_settings(self):
         """Sets various carb physics settings."""
         # enable hydra scene-graph instancing
@@ -404,6 +413,20 @@ def _apply_render_settings_from_cfg(self):
         if get_carb_setting(self.carb_settings, "/rtx/rendermode").lower() == "raytracedlighting":
             set_carb_setting(self.carb_settings, "/rtx/rendermode", "RaytracedLighting")
 
+    """
+    Properties - Override.
+    """
+
+    @property
+    def device(self) -> str:
+        """Device used by the simulation.
+
+        Note:
+            In Omniverse, it is possible to configure multiple GPUs for rendering, while physics engine
+            operates on a single GPU. This function returns the device that is used for physics simulation.
+        """
+        return self._physics_device
+
     """
     Operations - New.
     """