Uses the configuration to obtain the simulation device #3636
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jtigue-bdai
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Oct 6, 2025
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Great fix, thanks for catching that |
pascal-roth
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Oct 8, 2025
kellyguo11
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This MR fixes the slow-down observed in recent IsaacLab updates. Previously, the simulation device was read through the configuration; later, this was changed to read the device through the simulation manager. On profiling, I observed that the simulation manager function took 0.01 s per call. This is quite a bit of overhead, considering that `env.device` refers to `sim.device` and gets called at multiple locations in the environment. This MR reverts back to the previous solution for obtaining the device. Fixes #3554 - Bug fix (non-breaking change which fixes an issue) ``` ./isaaclab.sh -p scripts/benchmarks/benchmark_non_rl.py --task Isaac-Velocity-Flat-Anymal-C-v0 --headless --seed 0 --num_frames 2000 ``` The numbers reported here are the average FPS on PC with RTX A6000 GPU and Intel i9-9820X: * **Before**: 94784.43553363248 * **Overriding `sim.device`**: 100484.21244511564 - [x] I have read and understood the [contribution guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there
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Description
This MR fixes the slow-down observed in recent IsaacLab updates. Previously, the simulation device was read through the configuration; later, this was changed to read the device through the simulation manager.
On profiling, I observed that the simulation manager function took 0.01 s per call. This is quite a bit of overhead, considering that
env.devicerefers tosim.deviceand gets called at multiple locations in the environment.This MR reverts back to the previous solution for obtaining the device.
Fixes #3554
Type of change
Screenshots
The numbers reported here are the average FPS on PC with RTX A6000 GPU and Intel i9-9820X:
sim.device: 100484.21244511564Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there