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[isaacsim.cortex.behaviors] Isaac Cortex Sample Behaviors#

Warning

Deprecation: Extension deprecated since Isaac Sim 6.0.0. Will be replaced in 7.0 with simple examples and open source equivalents.

Version: 2.0.16

Overview#

Deprecated since version 6.0.0: This extension has been deprecated and will be replaced by open source equivalents and simple examples.

The isaacsim.cortex.behaviors extension provides a library of sample behaviors for the Isaac Cortex decision framework. These behaviors demonstrate reactive task execution on simulated robots, including block stacking, pick-and-place, and game-playing scenarios using decider networks and state machines.

Included Behaviors#

  • Block stacking (Franka): A reactive block tower building behavior that monitors tower state, plans grasp poses, and recovers from disturbances. Includes perception synchronization and collision-aware motion planning.

  • Peck game (Franka): Demonstrates decider network and state machine approaches to a simple interactive game behavior.

  • Simple behaviors (Franka): Minimal decider network and state machine examples for learning the Cortex framework.

  • Bin stacking (UR10): A pick-and-place state machine for bin manipulation using a UR10 robot.

Key Components#

  • BuildTowerContext: Manages block world state, tower tracking, and robot perception for the stacking behavior

  • Grasp planning utilities: Functions for generating and scoring candidate grasp transforms based on approach direction and obstacle proximity

  • State machines and decider networks: Reusable behavior building blocks for pick, place, lift, and navigation actions

Enable Extension#

The extension can be enabled (if not already) in one of the following ways:

Define the next entry as an application argument from a terminal.

APP_SCRIPT.(sh|bat) --enable isaacsim.cortex.behaviors

Define the next entry under [dependencies] in an experience (.kit) file or an extension configuration (extension.toml) file.

[dependencies]
"isaacsim.cortex.behaviors" = {}

Open the Window > Extensions menu in a running application instance and search for isaacsim.cortex.behaviors. Then, toggle the enable control button if it is not already active.