bdd-dsl

This repository provides tooling to support the specification and execution of acceptance tests for robotic scenarios using the Behaviour-Driven Development (BDD) methodology. The underlying metamodel design is described in our paper, which was presented at the 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025).

Further documentation can be found below and on the maintained GitHub page for the repository. A more user-friendly DSL that can generate valid RDF graphs for working with bdd-dsl can be found on the RobBDD repository.

Quick start

Installation

1. Install rdf-utils
2. Install bdd-dsl with pip install

Gherkin generation & mockup execution with behave

A mockup test execution setup with behave is available for trying out our models. To run this setup:

1. Generate the Gherkin feature using the generate_bdd_specs.py script. This should create a *.feature file under the examples/generated directory.
2. Execute behave under examples/generated should run the mockup setup.

An execution setup with Nvidia Isaac Sim is available at the minhnh/bdd-isaacsim-exec repository.

Tutorials

1. Concepts and relations for specifying robotic scenarios
2. RobBDD Specification Tutorial
3. Acceptance Testing Tutorials
   1. Tutorial 1: Scenarios and Variations
   2. Tutorial 2: Observations and Execution (WIP)
   3. Tutorial 3: Set Quantifiers and Sorting (execution WIP)
4. Modelling a pickup task as JSON-LD graphs

Acknowledgement

This work is partly funded by the SESAME H2020 project under grant agreement No 101017258.