NVTX Python Function Profiling (Non-Kit Environments)

For Isaac Lab 3.0+ standalone mode and other Python apps without Kit/Carbonite, CARB_PROFILING_PYTHON doesn't work. This skill uses the bundled scripts/sitecustomize.py helper to install a sys.setprofile() hook with NVTX ranges.

Do not write into an environment's existing sitecustomize.py. Load the bundled helper with PYTHONPATH so disabling it is just unsetting PYTHONPATH or NVTX_PROFILE_PYTHON.

Setup

# From the Isaac Lab directory (or any Python project with uv/pip)
uv pip install nvtx

# Resolve this skill's directory, then put its scripts/ directory on PYTHONPATH.
# From this repository, the default below points at the bundled helper.
NVTX_SKILL_DIR="${NVTX_SKILL_DIR:-$PWD/.agents/skills/nvtx-python}"
test -f "$NVTX_SKILL_DIR/scripts/sitecustomize.py"
export PYTHONPATH="$NVTX_SKILL_DIR/scripts:${PYTHONPATH:-}"

Environment Variables

Usage with Nsight Systems

# Capture all Python modules
NVTX_SKILL_DIR="${NVTX_SKILL_DIR:-$PWD/.agents/skills/nvtx-python}"
PYTHONPATH="$NVTX_SKILL_DIR/scripts:${PYTHONPATH:-}" \
NVTX_PROFILE_PYTHON=1 \
nsys profile -t nvtx,cuda,osrt \
uv run python scripts/reinforcement_learning/skrl/train.py \
  --task=Isaac-Velocity-Flat-Anymal-C-v0 --num_envs=1024 --max_iterations=10

# Capture specific modules only (recommended — reduces overhead)
NVTX_SKILL_DIR="${NVTX_SKILL_DIR:-$PWD/.agents/skills/nvtx-python}"
PYTHONPATH="$NVTX_SKILL_DIR/scripts:${PYTHONPATH:-}" \
NVTX_PROFILE_PYTHON=1 NVTX_PROFILE_INCLUDE=isaaclab,skrl \
nsys profile -t nvtx,cuda,osrt \
uv run python scripts/reinforcement_learning/skrl/train.py \
  --task=Isaac-Velocity-Flat-Anymal-C-v0 --num_envs=1024 --max_iterations=10

Performance Considerations

• Every function call/return fires a callback — significant overhead when tracing all modules
• Use NVTX_PROFILE_INCLUDE to limit scope to modules of interest
• To disable: unset NVTX_PROFILE_PYTHON or remove the skill's scripts/ directory from PYTHONPATH

Caveat: Isaac Lab / Kit-based hosts clobber sys.setprofile

Isaac Lab 3.0+ standalone does boot Kit/Carb under the hood via AppLauncher. Just running from isaaclab.app import AppLauncher (or any import that transitively pulls carb / isaacsim) registers Carb's own Python profile callback during module load, silently overwriting the hook this skill installed at interpreter startup. The resulting .nsys-rep then shows Python NVTX only for the brief window between interpreter startup and the first Carb-pulling import — typically just argparse, then nothing.

Fix: call sitecustomize.install() after the import to re-arm. install() is idempotent, re-reads NVTX_PROFILE_INCLUDE / NVTX_PROFILE_EXCLUDE each call, and re-installs both sys.setprofile and threading.setprofile.

import sys
print(f"[NVTX] before AppLauncher: {sys.getprofile()!r}", flush=True)  # likely None
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
print(f"[NVTX] after AppLauncher:  {sys.getprofile()!r}", flush=True)  # still None

import sitecustomize
sitecustomize.install()
print(f"[NVTX] re-installed:       {sys.getprofile()!r}", flush=True)  # callback restored

The probes are how you confirm the issue and the fix in one run. Drop them once verified.

Limitations even after re-install

• sys.setprofile is per-thread. threading.setprofile only catches threads created via Python's threading module — Kit / PhysX / Hydra / Fabric / TBB native threads stay invisible. Most of env.step() runs in C++ on those threads, so even with the hook re-armed you'll see relatively few Python NVTX zones during the step loop.
• Tracing every module floods the trace and can swamp nsys's NVTX backend; always set NVTX_PROFILE_INCLUDE to your own packages (e.g. simulation,isaaclab.envs,isaaclab_tasks) for Isaac Lab workloads.
• For native-side coverage of Kit/PhysX/Hydra, use CARB_PROFILING_PYTHON=1 + Carb's NVTX backend (see profiling skill) instead of, or alongside, this skill.
• For a clean, low-overhead view of specific hot paths, drop the auto-tracer entirely and decorate the functions you care about with @nvtx.annotate (env.step, IK solve, observation manager, camera readout).

Alternative: nsys Built-in Python Tracing

If you know exactly which modules/functions to trace, nsys has a built-in option:

nsys profile --python-functions-trace=... <command>

See the Nsight Systems User Guide for details.