AuraSIM CI Action

A GitHub Action for running robotic simulations using AuraSIM in CI/CD pipelines. This action allows you to automate the testing of robotic software by running simulations in Docker containers with USD (Universal Scene Description) files.

Features

• Run robotic simulations in CI/CD pipelines
• Docker-based execution for consistent environments
• Configurable timeout for simulation runs
• Support for USD (Universal Scene Description) files
• Input validation and error handling
• Simulation status tracking and logging

Usage

Basic Example

name: Robot Simulation Test
on: [push, pull_request]

jobs:
  simulation:
    runs-on: ubuntu-latest
    steps:
      - name: Checkout code
        uses: actions/checkout@v4

      - name: Run AuraSIM Simulation
        uses: auraml/aurasim_ci@main
        with:
          usd_path: './scenes/warehouse_robot.usd'
          robot_docker_image: 'myorg/robot-stack:latest'
          robot_start_cmd: 'python /app/start_simulation.py'
          timeout: '600'

Advanced Example with Multiple Simulations

name: Comprehensive Robot Testing
on: [push, pull_request]

jobs:
  simulation-matrix:
    runs-on: ubuntu-latest
    strategy:
      matrix:
        scenario:
          - {
              scene: 'warehouse',
              timeout: '300',
              image: 'myorg/warehouse-robot:v1.0',
            }
          - {
              scene: 'factory',
              timeout: '450',
              image: 'myorg/factory-robot:v1.0',
            }
          - {
              scene: 'outdoor',
              timeout: '600',
              image: 'myorg/outdoor-robot:v1.0',
            }

    steps:
      - name: Checkout code
        uses: actions/checkout@v4

      - name: Run ${{ matrix.scenario.scene }} Simulation
        uses: auraml/aurasim_ci@v1
        with:
          usd_path: './scenes/${{ matrix.scenario.scene }}_environment.usd'
          robot_docker_image: ${{ matrix.scenario.image }}
          robot_start_cmd: 'ros2 launch robot_bringup simulation.launch'
          timeout: ${{ matrix.scenario.timeout }}

Inputs

Input	Description	Required	Default
usd_path	Path to the USD (Universal Scene Description) file for the simulation	Yes	-
robot_docker_image	Docker image containing the robot software stack	Yes	-
robot_start_cmd	Command to start the robot in the container	Yes	-
timeout	Timeout for the simulation in seconds	No	300

Requirements

Docker Image Requirements

Your robot Docker image should:

• Have all necessary robot software installed (ROS, navigation stack, etc.)
• Accept the simulation command via the entry point or CMD
• Handle graceful shutdown on timeout signals
• Output logs and results to expected locations

USD File Requirements

• Must be a valid USD (Universal Scene Description) file
• Should contain the complete simulation environment
• Must be accessible in the repository or workspace

Environment Variables

The action sets up these environment variables in the Docker container:

• USD_PATH: Path to the USD file within the container
• OUTPUT_DIR: Directory for simulation outputs
• SIMULATION_START_TIME: Timestamp when simulation started

Error Handling

The action will fail if:

• The specified USD file doesn't exist
• The Docker image cannot be pulled or found
• The simulation times out
• The robot command exits with a non-zero status

License

This project is licensed under the terms specified in the LICENSE file.