============================================
  Gazebo Hotspot Analysis: 3k_shapes_static
============================================
  Total samples: 29985957064

━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
  1. Optimization targets (inclusive time)
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
  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.

  99.9%  gz::sim::v11::SimulationRunner::Run
  99.9%  gz::sim::v11::ServerPrivate::Run
  99.8%  gz::sim::v11::SimulationRunner::Step
  99.7%  gz::sim::v11::SimulationRunner::UpdateSystems
  99.7%  gz::sim::v11::systems::Physics::Update
  97.6%  gz::sim::v11::systems::PhysicsPrivate::Step
   1.7%  gz::sim::v11::systems::PhysicsPrivate::UpdatePhysics
   1.7%  Each<...>
   0.1%  gz::transport::v16::Node::Publisher::HasConnections
   0.1%  gz::sim::v11::SimulationRunner::PublishStats
   0.0%  gz::sim::v11::systems::PhysicsPrivate::UpdateSim
   0.0%  Each<...>
   0.0%  gz::sim::v11::systems::SceneBroadcaster::PostUpdate
   0.0%  gz::sim::v11::LevelManager::UpdateLevelsState
   0.0%  gz::transport::v16::Publisher::Topic[abi:cxx11]

━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
  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.

  93.8%  gz::sim::v11::systems::PhysicsPrivate::Step -> gz::physics::ForwardStep::World<...>
   3.7%  gz::sim::v11::systems::PhysicsPrivate::Step -> gz::physics::SpecifyData<...>
   0.3%  gz::sim::v11::systems::Physics::Update -> gz::physics::SpecifyData<...>
   0.0%  gz::sim::v11::systems::PhysicsPrivate::Step -> gz::physics::ExpectData<...>
   0.0%  gz::transport::v16::MessagePublisher::MsgTypeName[abi:cxx11] -> std::__cxx11::basic_string<...>
   0.0%  gz::sim::v11::systems::Physics::Update -> std::_Rb_tree<...>
   0.0%  gz::sim::v11::EntityComponentManager::SetAllComponentsUnchanged -> clear<...>
   0.0%  gz::physics::dartsim::BitmaskContactFilter::ignoresCollision -> dart::collision::BodyNodeCollisionFilter::ignoresCollision
   0.0%  gz::sim::v11::systems::PhysicsPrivate::Step -> std::_Rb_tree<...>
   0.0%  gz::sim::v11::LevelManager::UpdateLevelsState -> ___pthread_mutex_lock
   0.0%  gz::transport::v16::Publisher::Topic[abi:cxx11] -> std::__cxx11::basic_string<...>
   0.0%  gz::sim::v11::systems::PhysicsPrivate::Step -> std::chrono::duration<...>
   0.0%  gz::sim::v11::SimulationRunner::UpdateSystems -> non-virtual
   0.0%  gz::transport::v16::TopicStorage<...>
   0.0%  gz::transport::v16::Node::PublisherPrivate::Valid -> std::__cxx11::basic_string<...>

━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
  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.

  93.8%  gz::physics::ForwardStep::World<gz::physics::FeaturePolicy<double,
   0.0%  dart::dynamics::BodyNode::clearConstraintImpulse
   0.0%  dart::collision::CollisionGroup::updateSkeletonSource
   0.0%  ___pthread_mutex_lock
   0.0%  dart::dynamics::Skeleton::clearConstraintImpulses
   0.0%  dart::collision::BodyNodeCollisionFilter::ignoresCollision
   0.0%  [libdart.so.6.13.2]
   0.0%  [[vdso]]
   0.0%  dart::dynamics::Joint::isKinematic
   0.0%  dart::dynamics::Frame::getWorldTransform

============================================
  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:  99.9%  (optimization opportunity)
  Outside Gazebo:      0.1%  (external threads, drivers, kernel)