bdd-isaacsim-exec

Repository for executing acceptance tests of sample pick & place application in NVIDIA Isaac Sim, using the bdd-dsl framework.

Dependencies

• minhnh/rdf-utils
• minhnh/bdd-dsl

Environment setup

Sample shell setup for running pip and behave from Nvidia Isaac Sim environment:

ISAAC_VER='4.2.0'
ISAAC_SIM_DIR="/path/to/omniverse/pkg/isaac-sim-${ISAAC_VER}"
ISAAC_PYTHON_SH="${ISAAC_SIM_DIR}/python.sh"
alias isaacsim-python-sh="${ISAAC_PYTHON_SH}"
alias isaacsim-pip="${ISAAC_PYTHON_SH} -m pip"
alias isaacsim-ipython="${ISAAC_PYTHON_SH} ${ISAAC_SIM_DIR}/kit/python/bin/ipython"
alias isaacsim-behave="${ISAAC_PYTHON_SH} ${ISAAC_SIM_DIR}/kit/python/bin/behave"

This allows running isaacsim-pip to install to the Isaac Python package location and isaacsim-behave to load packages from this location.

Usage

1. Download & install Isaac Sim
2. Configure the environment using instructions above
3. Install rdf-utils & bdd-dsl with isaacsim-pip alias
4. Generate the Gherkin feature files per instruction on the bdd-dsl repository.
5. Copy/link the generated Gherkin into the examples directory
6. Run isaacsim-behave alias under the examples folder