# Description

Before setting up the device was tedious and redundant, and you would
see code like:

```python
sim_utils.SimulationCfg(device="cpu", use_gpu_pipeline=False, dt=0.01, physx=sim_utils.PhysxCfg(use_gpu=False))
```

With this MR, we simply set the desired device, and all the parameters,
such as `use_gpu_pipeline` and `use_gpu` propagate automatically,
resulting in the following:

 ```python
sim_utils.SimulationCfg(device="cpu", dt=0.01,
physx=sim_utils.PhysxCfg())
```

The command line input `--cpu` has been removed in favor of `--device device_name`, where valid options for `device_name` are `cpu` (run on CPU), `cuda` (run on GPU with device id 0), or `cuda:N` (run on GPU with device id N, for example `cuda:0`).

## Type of change

- Breaking Change

## Checklist

- [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