Repository for executing acceptance tests of sample pick & place application in NVIDIA Isaac Sim, using the bdd-dsl framework.
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.
- Download & install Isaac Sim
- Configure the environment using instructions above
- Install rdf-utils & bdd-dsl with
isaacsim-pip
alias - Generate the Gherkin feature files per instruction on the bdd-dsl repository.
- Copy/link the generated Gherkin into the
examples
directory - Run
isaacsim-behave
alias under theexamples
folder