# Unified profiling summary: moving_robots_and_sensors # Date: 2026-09-01 22:39 # Dimensions available: cpu # Scoring: cpu(0-40) + cache(0-20) + offcpu(0-15) + c2c(0-15) + sched(0-10) = 0-100 rank function_name score cpu_pct cache_ratio offcpu_us hitm_pct sched_flag evidence_sources 1 gz::sim::v11::systems::SensorsPrivate::RunOnce 40 34.1 - - - cpu 2 gz::sim::v11::systems::SensorsPrivate::RenderThread 40 34.1 - - - cpu 3 gz::sim::v11::systems::Physics::Update 40 59.7 - - - cpu 4 gz::sim::v11::systems::PhysicsPrivate::Step 40 49.3 - - - cpu 5 gz::sim::v11::SimulationRunner::UpdateSystems 40 63.5 - - - cpu 6 gz::sim::v11::SimulationRunner::Step 40 63.7 - - - cpu 7 gz::sim::v11::SimulationRunner::Run 40 63.8 - - - cpu 8 gz::sim::v11::ServerPrivate::Run 40 63.8 - - - cpu 9 gz::sensors::v11::Sensor::Update 40 33.6 - - - cpu 10 gz::sensors::v11::RgbdCameraSensor::Update 40 14.3 - - - cpu 11 gz::sensors::v11::RenderingSensor::Render 40 27.5 - - - cpu 12 gz::sensors::v11::Manager::RunOnce 40 33.1 - - - cpu 13 gz::sensors::v11::CameraSensor::Update 40 10.3 - - - cpu 14 gz::physics::ForwardStep::World, gz::sim::v11::systems::PhysicsPrivate::MinimumFeatureList>::Step 40 49.1 - - - cpu 15 gz::physics::dartsim::SimulationFeatures::WorldForwardStep 40 48.7 - - - cpu 16 gz::sim::v11::systems::PhysicsPrivate::UpdateSim 25 8.1 - - - cpu 17 gz::sim::v11::systems::PhysicsPrivate::UpdateCollisions 25 5.9 - - - cpu 18 gz::sensors::v11::ThermalCameraSensor::Update 25 7.2 - - - cpu 19 gz::rendering::v11::Ogre2RenderTarget::Render 25 8.1 - - - cpu 20 gz::rendering::v11::Ogre2GpuReadbackTicket::DownloadAndMap 25 5.3 - - - cpu 21 gz::rendering::v11::Ogre2DepthCamera::PostRender 25 6.1 - - - cpu 22 gz::transport::v16::Node::Publisher::Publish 10 1.9 - - - cpu 23 gz::sim::v11::systems::PhysicsPrivate::UpdatePhysics 10 1.1 - - - cpu 24 gz::sensors::v11::PointCloudUtil::FillMsg 10 1.8 - - - cpu 25 gz::sensors::v11::GpuLidarSensor::Update 10 1.5 - - - cpu 26 gz::rendering::v11::Ogre2ThermalCamera::Render 10 3.9 - - - cpu 27 gz::rendering::v11::Ogre2ThermalCamera::PostRender 10 3.0 - - - cpu 28 gz::rendering::v11::Ogre2RenderTarget::Copy 10 1.8 - - - cpu 29 gz::rendering::v11::Ogre2DepthCamera::Render 10 4.9 - - - cpu 30 gz::rendering::v11::BaseCamera::Copy 10 1.8 - - - cpu 31 gz::physics::GetContactsFromLastStepFeature::World, gz::sim::v11::systems::PhysicsPrivate::ContactFeatureList>::GetContactsFromLastStep 10 4.3 - - - cpu 32 gz::physics::dartsim::SimulationFeatures::GetContactsFromLastStep 10 2.7 - - - cpu 33 gz::physics::dartsim::SimulationFeatures::convertContact 10 1.2 - - - cpu 34 void std::__new_allocator, gz::sim::v11::systems::PhysicsPrivate::ContactFeatureList>::ContactPoint>, gz::physics::ExpectData > > > >::construct, gz::sim::v11::systems::PhysicsPrivate::ContactFeatureList>::ContactPoint>, gz::physics::ExpectData > > >> 5 0.6 - - - cpu 35 void std::allocator_traits, gz::sim::v11::systems::PhysicsPrivate::ContactFeatureList>::ContactPoint>, gz::physics::ExpectData > > > > >::construct, gz::sim::v11::systems::PhysicsPrivate::ContactFeatureList>::ContactPoint>, gz::physics::ExpectData > > >> 5 0.6 - - - cpu 36 void gz::sim::v11::EntityComponentManager::Each, gz::sim::v11::components::JointTag, gz::sim::v11::serializers::DefaultSerializer > >, gz::sim::v11::components::Component, std::allocator >, gz::sim::v11::components::NameTag, gz::sim::v11::serializers::StringSerializer>, gz::sim::v11::systems::PhysicsPrivate::UpdatePhysics 5 0.9 - - - cpu 37 void gz::common::EventT::TypeHandler> 5 0.6 - - - cpu 39 void google::protobuf::internal::RepeatedPtrFieldBase::MergeFrom::TypeHandler> 5 0.6 - - - cpu 40 std::unordered_map, gz::sim::v11::systems::PhysicsPrivate::ContactFeatureList>::ContactPoint const*, gz::physics::GetContactsFromLastStepFeature::ExtraContactDataT > const*>, std::allocator, gz::sim::v11::systems::PhysicsPrivate::ContactFeatureList>::ContactPoint const*, gz::physics::GetContactsFromLastStepFeature::ExtraContactDataT > const*> > >, std::hash, std::equal_to, std::allocator, gz::sim::v11::systems::PhysicsPrivate::ContactFeatureList>::ContactPoint const*, gz::physics::GetContactsFromLastStepFeature::ExtraContactDataT > const*>, std::allocator, gz::sim::v11::systems::PhysicsPrivate::ContactFeatureList>::ContactPoint const*, gz::physics::GetContactsFromLastStepFeature::ExtraContactDataT > const*> > > > > >::operator[] 5 0.5 - - - cpu 41 std::__detail::_Map_base, gz::sim::v11::systems::PhysicsPrivate::ContactFeatureList>::ContactPoint const*, gz::physics::GetContactsFromLastStepFeature::ExtraContactDataT > const*>, std::allocator, gz::sim::v11::systems::PhysicsPrivate::ContactFeatureList>::ContactPoint const*, gz::physics::GetContactsFromLastStepFeature::ExtraContactDataT > const*> > > >, std::allocator, gz::sim::v11::systems::PhysicsPrivate::ContactFeatureList>::ContactPoint const*, gz::physics::GetContactsFromLastStepFeature::ExtraContactDataT > const*>, std::allocator, gz::sim::v11::systems::PhysicsPrivate::ContactFeatureList>::ContactPoint const*, gz::physics::GetContactsFromLastStepFeature::ExtraContactDataT > const*> > > > >, std::__detail::_Select1st, std::equal_to, std::hash, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits, true>::operator[] 5 0.5 - - - cpu 42 gz::sim::v11::systems::Sensors::PostUpdate 5 0.7 - - - cpu 43 gz::sim::v11::systems::PhysicsPrivate::ChangedLinks 5 0.8 - - - cpu 44 gz::sim::v11::systems::ContactPrivate::UpdateSensors 5 0.7 - - - cpu 45 gz::sim::v11::systems::Contact::PostUpdate 5 0.9 - - - cpu 46 gz::sim::v11::RenderUtil::UpdateFromECM 5 0.5 - - - cpu 47 gz::sim::v11::EntityComponentManager::SetChanged 5 0.5 - - - cpu 48 gz::sensors::v11::RgbdCameraSensor::Implementation::OnNewRgbPointCloud 5 0.5 - - - cpu 49 gz::rendering::v11::Ogre2GpuRays::UpdateRenderTarget1stPass 5 0.6 - - - cpu 50 gz::rendering::v11::Ogre2GpuRays::Render 5 0.7 - - - cpu 51 gz::rendering::v11::Ogre2GpuRays::PostRender 5 0.7 - - - cpu 52 gz::physics::SpecifyData, gz::sim::v11::systems::PhysicsPrivate::ContactFeatureList>::ContactPoint>, gz::physics::ExpectData > > >& std::vector, gz::sim::v11::systems::PhysicsPrivate::ContactFeatureList>::ContactPoint>, gz::physics::ExpectData > > >, std::allocator, gz::sim::v11::systems::PhysicsPrivate::ContactFeatureList>::ContactPoint>, gz::physics::ExpectData > > > > >::emplace_back<> 5 0.6 - - - cpu 53 gz::physics::SpecifyData, gz::sim::v11::systems::PhysicsPrivate::ContactFeatureList>::ContactPoint>, gz::physics::ExpectData > > >::SpecifyData 5 0.6 - - - cpu 54 gz::physics::FrameSemantics::Frame, gz::sim::v11::systems::PhysicsPrivate::MinimumFeatureList>::FrameDataRelativeToWorld 5 0.5 - - - cpu 55 gz::physics::dartsim::KinematicsFeatures::FrameDataRelativeToWorld 5 0.6 - - - cpu 56 gz::msgs::Wrench::MergeImpl 5 0.5 - - - cpu 57 gz::msgs::Wrench::MergeFrom 5 0.5 - - - cpu 58 gz::msgs::Wrench::_internal_mutable_force 5 0.5 - - - cpu 59 gz::msgs::Vector3d* google::protobuf::MessageLite::CreateMaybeMessage 5 0.5 - - - cpu 60 gz::msgs::Vector3d* google::protobuf::Arena::DoCreateMessage 5 0.5 - - - cpu 61 gz::msgs::Vector3d* google::protobuf::Arena::CreateMessageInternal 5 0.6 - - - cpu 62 gz::msgs::Vector3d* google::protobuf::Arena::CreateMaybeMessage 5 0.6 - - - cpu 63 gz::msgs::PointCloudPacked::_InternalSerialize 5 0.6 - - - cpu 64 gz::msgs::JointWrench::MergeImpl 5 0.6 - - - cpu 65 gz::msgs::Contact::MergeImpl 5 0.7 - - - cpu 66 google::protobuf::RepeatedPtrField::MergeFrom 5 0.6 - - - cpu