simulation/modules/IsaacLab/scripts/benchmarks/nsys_trace.json

[
    {
        "_comment": "=== PYTHON IMPORTS (tracks module loading) ===",
        "domain": "Python-Imports",
        "color": "0x9E9E9E",
        "module": "importlib",
        "functions": ["import_module"]
    },
    {
        "domain": "Python-Imports",
        "color": "0x9E9E9E",
        "module": "importlib._bootstrap",
        "functions": ["_find_and_load", "_load_unlocked"]
    },
    {
        "_comment": "=== WARP (verified working) ===",
        "domain": "Warp",
        "color": "0xF44336",
        "module": "warp",
        "functions": ["launch", "synchronize", "copy", "zeros", "empty"]
    },
    {
        "_comment": "=== PYTORCH (verified working) ===",
        "domain": "PyTorch",
        "color": "0x3F51B5",
        "module": "torch.autograd",
        "functions": ["backward"]
    },
    {
        "_comment": "=== USD (verified working) ===",
        "domain": "USD",
        "color": "0x795548",
        "module": "pxr.UsdGeom",
        "functions": ["Xform", "Mesh", "Sphere", "Cube"]
    },
    {
        "_comment": "=== ISAACLAB ENVIRONMENTS ===",
        "domain": "IsaacLab-Env",
        "color": "0x9C27B0",
        "module": "isaaclab.envs.manager_based_rl_env",
        "functions": [
            {"function": "ManagerBasedRLEnv.__init__", "color": "0x9C27B0"},
            {"function": "ManagerBasedRLEnv.step", "color": "0xAB47BC"}
        ]
    },
    {
        "domain": "IsaacLab-Env",
        "color": "0x9C27B0",
        "module": "isaaclab.envs.manager_based_env",
        "functions": [
            {"function": "ManagerBasedEnv.__init__", "color": "0x9C27B0"},
            {"function": "ManagerBasedEnv.step", "color": "0xAB47BC"},
            {"function": "ManagerBasedEnv.reset", "color": "0xBA68C8"},
            {"function": "ManagerBasedEnv._reset_idx", "color": "0xCE93D8"}
        ]
    },
    {
        "_comment": "=== ISAACLAB SIMULATION ===",
        "domain": "IsaacLab-Sim",
        "color": "0x4CAF50",
        "module": "isaaclab.sim.simulation_context",
        "functions": [
            {"function": "SimulationContext.__init__", "color": "0x4CAF50"},
            {"function": "SimulationContext.reset", "color": "0x66BB6A"},
            {"function": "SimulationContext.step", "color": "0x81C784"}
        ]
    },
    {
        "_comment": "=== ISAACLAB SCENE ===",
        "domain": "IsaacLab-Scene",
        "color": "0x2196F3",
        "module": "isaaclab.scene.interactive_scene",
        "functions": [
            {"function": "InteractiveScene.__init__", "color": "0x2196F3"},
            {"function": "InteractiveScene.reset", "color": "0x42A5F5"},
            {"function": "InteractiveScene.write_data_to_sim", "color": "0x64B5F6"},
            {"function": "InteractiveScene.update", "color": "0x90CAF9"}
        ]
    },
    {
        "_comment": "=== ISAACLAB MANAGERS ===",
        "domain": "IsaacLab-Managers",
        "color": "0xFF9800",
        "module": "isaaclab.managers.observation_manager",
        "functions": [
            {"function": "ObservationManager.__init__", "color": "0xFF9800"},
            {"function": "ObservationManager.reset", "color": "0xFFA726"},
            {"function": "ObservationManager.compute", "color": "0xFFB74D"}
        ]
    },
    {
        "domain": "IsaacLab-Managers",
        "color": "0xFF9800",
        "module": "isaaclab.managers.action_manager",
        "functions": [
            {"function": "ActionManager.__init__", "color": "0xFF9800"},
            {"function": "ActionManager.reset", "color": "0xFFA726"},
            {"function": "ActionManager.process_action", "color": "0xFFB74D"},
            {"function": "ActionManager.apply_action", "color": "0xFFCC80"}
        ]
    },
    {
        "domain": "IsaacLab-Managers",
        "color": "0xFF9800",
        "module": "isaaclab.managers.reward_manager",
        "functions": [
            {"function": "RewardManager.__init__", "color": "0xFF9800"},
            {"function": "RewardManager.reset", "color": "0xFFA726"},
            {"function": "RewardManager.compute", "color": "0xFFB74D"}
        ]
    },
    {
        "_comment": "=== ISAACLAB ASSETS ===",
        "domain": "IsaacLab-Assets",
        "color": "0x607D8B",
        "module": "isaaclab.assets.articulation.articulation",
        "functions": [
            {"function": "Articulation.__init__", "color": "0x607D8B"},
            {"function": "Articulation.reset", "color": "0x78909C"},
            {"function": "Articulation.write_data_to_sim", "color": "0x90A4AE"},
            {"function": "Articulation.update", "color": "0xB0BEC5"}
        ]
    },
    {
        "_comment": "=== ISAACLAB SENSORS ===",
        "domain": "IsaacLab-Sensors",
        "color": "0x00BCD4",
        "module": "isaaclab.sensors.camera.camera",
        "functions": [
            {"function": "Camera.__init__", "color": "0x00BCD4"},
            {"function": "Camera.reset", "color": "0x26C6DA"},
            {"function": "Camera.update", "color": "0x4DD0E1"}
        ]
    },
    {
        "_comment": "=== RSL-RL ===",
        "domain": "RSL-RL",
        "color": "0x673AB7",
        "module": "rsl_rl.runners.on_policy_runner",
        "functions": [
            {"function": "OnPolicyRunner.__init__", "color": "0x673AB7"},
            {"function": "OnPolicyRunner.learn", "color": "0x7E57C2"}
        ]
    },
    {
        "domain": "RSL-RL",
        "color": "0x673AB7",
        "module": "rsl_rl.algorithms.ppo",
        "functions": [
            {"function": "PPO.__init__", "color": "0x673AB7"},
            {"function": "PPO.act", "color": "0x7E57C2"},
            {"function": "PPO.update", "color": "0x9575CD"}
        ]
    },
    {
        "_comment": "=== NEWTON WARP RENDERER ===",
        "domain": "NewtonWarpRenderer",
        "color": "0xE91E63",
        "module": "isaaclab_newton.renderers.newton_warp_renderer",
        "functions": [
            {"function": "NewtonWarpRenderer.update_transforms", "color": "0x2196F3"},
            {"function": "NewtonWarpRenderer.render", "color": "0x4CAF50"},
            {"function": "NewtonWarpRenderer.read_output", "color": "0xFF9800"}
        ]
    }
]