Uses the configuration to obtain the simulation device

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

@@ -404,6 +404,22 @@ 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:
+            This is the same as the :attr:`SimulationCfg.device` attribute.
+        """
+        # Note: Since we fix the device from the configuration and don't expect users to change it at runtime,
+        # we can bypass the SimulationManager.get_physics_sim_device() function and directly return the device
+        # from the configuration. This reduces the overhead of calling the function.
+        return self.cfg.device
+
     """
     Operations - New.
     """