address comments

source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py

@@ -465,6 +465,7 @@ def _config_resolution(self, launcher_args: dict):
                 self.device_id = self.local_rank
                 launcher_args["multi_gpu"] = False
             # limit CPU threads to minimize thread context switching
+            # this ensures processes do not take up all available threads and fight for resources
             num_cpu_cores = os.cpu_count()
             num_threads_per_process = num_cpu_cores // int(os.getenv("WORLD_SIZE", 1))
             # set environment variables to limit CPU threads

source/extensions/omni.isaac.lab/omni/isaac/lab/utils/timer.py

@@ -9,7 +9,7 @@
 
 import time
 from contextlib import ContextDecorator
-from typing import Any
+from typing import Any, ClassVar
 
 
 class TimerError(Exception):
@@ -60,10 +60,12 @@ class Timer(ContextDecorator):
     Reference: https://gist.github.com/sumeet/1123871
     """
 
-    timing_info = dict()
-    """ Used to log timing instances for retrieval from outside
-        of the Timer class. Times will be logged if a non-empty
-        name is provided on stop.
+    timing_info: ClassVar[dict[str, float]] = dict()
+    """Dictionary for storing the elapsed time per timer instances globally.
+
+    This dictionary logs the timer information. The keys are the names given to the timer class
+    at its initialization. If no :attr:`name` is passed to the constructor, no time
+    is recorded in the dictionary.
     """
 
     def __init__(self, msg: str | None = None, name: str | None = None):

source/extensions/omni.isaac.lab/test/terrains/check_terrain_importer.py

@@ -72,6 +72,7 @@
 from omni.isaac.core.objects import DynamicSphere
 from omni.isaac.core.prims import GeometryPrim, RigidPrim, RigidPrimView
 from omni.isaac.core.simulation_context import SimulationContext
+from omni.isaac.core.utils.extensions import enable_extension
 from omni.isaac.core.utils.viewports import set_camera_view
 
 import omni.isaac.lab.sim as sim_utils
@@ -80,7 +81,7 @@
 from omni.isaac.lab.terrains.terrain_importer import TerrainImporter
 from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR
 
-omni.kit.app.get_app().get_extension_manager().set_extension_enabled_immediate("omni.kit.primitive.mesh", True)
+enable_extension("omni.kit.primitive.mesh")
 
 
 def main():