Uses the configuration to obtain the simulation device

[Mayankm96]

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.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

Type of change

• Bug fix (non-breaking change which fixes an issue)

Screenshots

./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

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[jtigue-bdai]

Interesting, good find.

[pascal-roth]

Great fix, thanks for catching that