Profile Isaac Sim Performance

Iterative profiling workflow: run a benchmark with GPU frame-time recording, capture a Tracy profile, export to CSV, compare against a reference, make changes, and repeat.

Prerequisites

All commands run from the release build directory:

cd _build/linux-x86_64/release

Asset root / Nucleus authentication

Benchmarks load scenes from an asset server. If OMNI_USER and OMNI_PASS are set, Nucleus authentication is automatic. Otherwise, add the S3 fallback flag to every benchmark invocation (after --) to skip interactive auth:

--/persistent/isaac/asset_root/default=https://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/6.0