============================================
  Gazebo Hotspot Analysis: 3k_shapes
============================================
  Total samples: 29979939010

━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
  1. Optimization targets (inclusive time)
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  Gazebo functions ranked by total CPU spent under them
  (including all children). If you optimize or remove one
  of these functions, you'd save up to this % of CPU.
  These are the primary optimization candidates.

  99.8%  gz::sim::v11::SimulationRunner::Run
  99.8%  gz::sim::v11::ServerPrivate::Run
  99.8%  gz::sim::v11::SimulationRunner::Step
  99.8%  gz::sim::v11::SimulationRunner::UpdateSystems
  99.7%  gz::sim::v11::systems::Physics::Update
  98.3%  gz::sim::v11::systems::PhysicsPrivate::Step
   0.6%  gz::sim::v11::systems::PhysicsPrivate::ChangedLinks
   0.6%  gz::sim::v11::systems::PhysicsPrivate::UpdateSim
   0.4%  gz::sim::v11::systems::PhysicsPrivate::UpdateModelPose
   0.2%  gz::sim::v11::systems::physics_system::EntityFeatureMap<...>
   0.2%  gz::sim::v11::Model::Links
   0.1%  gz::sim::v11::systems::PhysicsPrivate::UpdatePhysics
   0.1%  Each<...>
   0.1%  gz::sim::v11::EntityComponentManager::SetChanged
   0.1%  gz::sim::v11::systems::physics_system::CanonicalLinkModelTracker::CanonicalLinkModels

━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
  2. What Gazebo functions call (attribution)
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
  For each sample, finds the nearest Gazebo function in the
  stack and shows what external function it called. Format:
  GazeboFunc -> ExternalFunc. Shows where optimizing the
  Gazebo caller would reduce external library cost.

  98.3%  gz::sim::v11::systems::PhysicsPrivate::Step -> gz::physics::ForwardStep::World<...>
   0.4%  gz::sim::v11::systems::PhysicsPrivate::ChangedLinks -> gz::physics::FrameSemantics::Frame<...>
   0.2%  gz::sim::v11::Model::Links -> std::vector<unsigned
   0.1%  gz::sim::v11::systems::PhysicsPrivate::UpdateModelPose -> std::unordered_map<...>
   0.1%  gz::sim::v11::systems::PhysicsPrivate::ChangedLinks -> std::map<...>
   0.1%  __invoke<...>
   0.1%  gz::sim::v11::systems::PhysicsPrivate::Step -> gz::physics::SpecifyData<...>
   0.0%  gz::sim::v11::systems::PhysicsPrivate::UpdateSim -> std::set<unsigned
   0.0%  gz::sim::v11::EntityComponentManager::SetChanged -> std::unordered_set<...>
   0.0%  gz::sim::v11::Model::Models -> std::vector<unsigned
   0.0%  gz::sim::v11::systems::Physics::Update -> gz::physics::SpecifyData<...>
   0.0%  gz::sim::v11::systems::Physics::Update -> std::map<unsigned
   0.0%  gz::sim::v11::systems::PhysicsPrivate::UpdateSim -> std::_Rb_tree_iterator<...>
   0.0%  gz::sim::v11::systems::PhysicsPrivate::UpdateModelPose -> gz::math::v10::Quaternion<...>
   0.0%  gz::sim::v11::systems::PhysicsPrivate::ChangedLinks -> gz::physics::EntityPtr<...>

━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
  3. External costs (context)
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
  Top CPU consumers in external libraries (DART, ODE, Ogre,
  glibc, etc.). Not directly actionable, but shows where
  the CPU actually executes. See section 2 for which Gazebo
  function is responsible for each.

  98.3%  gz::physics::ForwardStep::World<gz::physics::FeaturePolicy<double,
   0.1%  [libdart.so.6.13.2]
   0.0%  dart::dynamics::Frame::getWorldTransform
   0.0%  dart::dynamics::Skeleton::clearConstraintImpulses
   0.0%  dart::dynamics::Frame::World
   0.0%  dart::dynamics::BodyNode::updateVelocityChangeFD
   0.0%  dart::constraint::BoxedLcpConstraintSolver::isSymmetric
   0.0%  _int_free
   0.0%  dart::math::AdInvT
   0.0%  dart::dynamics::Skeleton::updateVelocityChange
   0.0%  dart::dynamics::Skeleton::updateArticulatedInertia
   0.0%  dart::dynamics::Joint::notifyVelocityUpdated
   0.0%  dart::dynamics::Joint::getRelativeTransform
   0.0%  dart::dynamics::BodyNode::isReactive
   0.0%  dart::constraint::ContactConstraint::applyImpulse

============================================
  Summary
============================================
  How much CPU runs under a Gazebo function in the call stack?
  This is the portion we can influence by changing Gazebo code.

  Under Gazebo code:  99.8%  (optimization opportunity)
  Outside Gazebo:      0.2%  (external threads, drivers, kernel)