Is there IsaacGym data flow(control flow) figure

Hi. I’m looking for a figure, which is describing the data flow of IsaacGym.

For example, here is dafa flow of ROS & Gazebo.

I tried to find out about the IsaacGym, But It’s the only thing I found.

If you know more detailed figures, please share them. Thank you.

I remember I saw something in this video, it might be helpful: