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Sample Configs#

The isaacsim.replicator.agent.core extension ships with a small set of YAML configurations under [ext-path]/data/sample_configs/. They demonstrate the recommended ways to configure the Isaac replicator agent (IRA), from the smallest valid config to a full data-generation pipeline.

Layout#

The directory is organized as follows:

sample_configs/
  minimal.yaml         # smallest valid config (env only)
  full_pipeline.yaml   # end-to-end demo: routines + sensors + writers
  behavior_tree/       # behavior-tree samples (experimental)
    wander.yaml
    patrol_and_wander.yaml
    instance_overrides.yaml

Behavior-tree samples live under behavior_tree/ because behavior-tree character support is currently experimental (refer to Behavior Tree Character Group (Experimental)). The two top-level samples use the stable routine-trigger character API and are the recommended starting point.

Standard Samples#

Top-level samples. They use the stable routine-trigger character API (refer to Configuration File).

File

Expected behavior

Demonstrates

minimal.yaml

Opens the warehouse stage. No actors, sensors, or data generation – a sanity check that IRA is enabled and the asset server is reachable.

Smallest valid IRA config. Loaded by the IRA UI on launch.

full_pipeline.yaml

10 workers wander the warehouse for 60 seconds while six randomly placed ceiling cameras capture per-frame RGB, depth, segmentation, bounding boxes, and cosmos video annotations to the output folder.

End-to-end pipeline: routine-based character behavior, RTX sensor placement (aim_at_targets), and IRABasicWriter.

Behavior-Tree Samples (Experimental)#

Samples under sample_configs/behavior_tree/ that drive characters with behavior trees instead of routines. The trees themselves live in the sibling sample_behavior_tree/ folder of the extension.

File

Expected behavior

Demonstrates

Behavior Tree asset

behavior_tree/wander.yaml

Two warehouse workers wander randomly through the warehouse.

Single behavior-tree character group.

sample_behavior_tree/wander.json

behavior_tree/patrol_and_wander.yaml

Two agents follow a fixed patrol route while three others wander around them.

Two BT character groups (patrol + wander) coexisting in one config.

sample_behavior_tree/patrol.json + wander.json

behavior_tree/instance_overrides.yaml

Two warehouse workers each pick up a different cardboard box and carry it to a destination marker (Destination_A, Destination_B).

Per-group overrides on a shared Behavior Tree. Each group binds SetBlackboard.slot, PickupObject.target, and PlaceObject.xform to its own values using instanceOverrides.

sample_behavior_tree/box_mover_multiple.json