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Enable unit test in workflow (#29)
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-101
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13 files changed

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‎.github/workflows/main.yml‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -72,10 +72,10 @@ jobs:
7272
- uses: actions/checkout@v4
7373
- name: (CI) Run tests
7474
run: |
75-
# pip install -e .
75+
pip install -e .
7676
echo "Unit test Start"
77-
# export HF_ENDPOINT=https://hf-mirror.com
78-
# pytest tests
77+
export HF_ENDPOINT=https://hf-mirror.com
78+
pytest tests
7979
8080
publish:
8181
if: github.event_name == 'push' && github.ref == 'refs/heads/main'

‎.readthedocs.yaml‎

Lines changed: 0 additions & 25 deletions
This file was deleted.

‎docs/source/quick_start/install.md‎

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -14,7 +14,6 @@ The following minimum system requirements are recommended to run EmbodiChain rel
1414

1515
- Python:
1616
- Supported Python versions:
17-
- Python 3.9
1817
- Python 3.10
1918
- Use a virtual environment (venv, virtualenv, or conda) to isolate dependencies
2019

‎embodichain/data/assets/demo_assets.py‎

Lines changed: 6 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -23,11 +23,15 @@
2323
EMBODICHAIN_DEFAULT_DATA_ROOT,
2424
)
2525

26+
demo_assets = "demo"
27+
2628

2729
class ScoopIceNewEnv(EmbodiChainDataset):
2830
def __init__(self, data_root: str = None):
2931
data_descriptor = o3d.data.DataDescriptor(
30-
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "demo/ScoopIceNewEnv.zip"),
32+
os.path.join(
33+
EMBODICHAIN_DOWNLOAD_PREFIX, demo_assets, "ScoopIceNewEnv.zip"
34+
),
3135
"e92734a9de0f64be33a11fbda0fbd3b6",
3236
)
3337
prefix = "ScoopIceNewEnv"
@@ -39,7 +43,7 @@ def __init__(self, data_root: str = None):
3943
class MultiW1Data(EmbodiChainDataset):
4044
def __init__(self, data_root: str = None):
4145
data_descriptor = o3d.data.DataDescriptor(
42-
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "demo/multi_w1_demo.zip"),
46+
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, demo_assets, "multi_w1_demo.zip"),
4347
"984e8fa3aa05cb36a1fd973a475183ed",
4448
)
4549
prefix = "MultiW1Data"

‎embodichain/data/assets/eef_assets.py‎

Lines changed: 13 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -24,6 +24,9 @@
2424
)
2525

2626

27+
eef_assets = "eef_assets"
28+
29+
2730
class DH_PGC_140_50(EmbodiChainDataset):
2831
"""Dataset class for the DH Robotics PGC-140-50 end-effector gripper.
2932
@@ -44,7 +47,7 @@ class DH_PGC_140_50(EmbodiChainDataset):
4447

4548
def __init__(self, data_root: str = None):
4649
data_descriptor = o3d.data.DataDescriptor(
47-
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "eef_assets/DH_PGC_140_50.zip"),
50+
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, eef_assets, "DH_PGC_140_50.zip"),
4851
"c2a642308a76e99b1b8b7cb3a11c5df3",
4952
)
5053
prefix = "DH_PGC_140_50"
@@ -73,7 +76,7 @@ class DH_PGI_140_80(EmbodiChainDataset):
7376

7477
def __init__(self, data_root: str = None):
7578
data_descriptor = o3d.data.DataDescriptor(
76-
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "eef_assets/DH_PGI_140_80.zip"),
79+
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, eef_assets, "DH_PGI_140_80.zip"),
7780
"05a1a08b13c6250cc12affeeda3a08ba",
7881
)
7982
prefix = "DH_PGI_140_80"
@@ -103,7 +106,9 @@ class DH_PGC_140_50_M(EmbodiChainDataset):
103106

104107
def __init__(self, data_root: str = None):
105108
data_descriptor = o3d.data.DataDescriptor(
106-
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "eef_assets/DH_PGC_140_50_M.zip"),
109+
os.path.join(
110+
EMBODICHAIN_DOWNLOAD_PREFIX, eef_assets, "DH_PGC_140_50_M.zip"
111+
),
107112
"3a9ab5f32639e03afb38dc033b44bb62",
108113
)
109114
prefix = "DH_PGC_140_50_M"
@@ -132,7 +137,7 @@ class ZH_CTM2F110(EmbodiChainDataset):
132137

133138
def __init__(self, data_root: str = None):
134139
data_descriptor = o3d.data.DataDescriptor(
135-
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "eef_assets/ZH_CTM2F110.zip"),
140+
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, eef_assets, "ZH_CTM2F110.zip"),
136141
"0e7c3310425609797fe010b2a76fe465",
137142
)
138143
prefix = "ZH_CTM2F110"
@@ -164,7 +169,7 @@ class BrainCoHandRevo1(EmbodiChainDataset):
164169
def __init__(self, data_root: str = None):
165170
data_descriptor = o3d.data.DataDescriptor(
166171
os.path.join(
167-
EMBODICHAIN_DOWNLOAD_PREFIX, "eef_assets/BrainCoHandRevo01.zip"
172+
EMBODICHAIN_DOWNLOAD_PREFIX, eef_assets, "BrainCoHandRevo01.zip"
168173
),
169174
"ff9ac77e7e1493fd32d40c87fecbee6c",
170175
)
@@ -200,7 +205,7 @@ class InspireHand(EmbodiChainDataset):
200205

201206
def __init__(self, data_root: str = None):
202207
data_descriptor = o3d.data.DataDescriptor(
203-
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "eef_assets/InspireHand.zip"),
208+
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, eef_assets, "InspireHand.zip"),
204209
"c60132a6f03866fb021cca5b6d72845e",
205210
)
206211
prefix = "InspireHand"
@@ -229,7 +234,7 @@ class Robotiq2F85(EmbodiChainDataset):
229234

230235
def __init__(self, data_root: str = None):
231236
data_descriptor = o3d.data.DataDescriptor(
232-
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "eef_assets/Robotiq2F85.zip"),
237+
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, eef_assets, "Robotiq2F85.zip"),
233238
"53ecbf2c953f43f1134aa7223e592292",
234239
)
235240
prefix = "Robotiq2F85"
@@ -258,7 +263,7 @@ class WheelTecFA2F(EmbodiChainDataset):
258263

259264
def __init__(self, data_root: str = None):
260265
data_descriptor = o3d.data.DataDescriptor(
261-
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "eef_assets/WheelTecFA2F.zip"),
266+
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, eef_assets, "WheelTecFA2F.zip"),
262267
"feaf13f25b1c6ce58d011b1f2fa72f58",
263268
)
264269
prefix = "WheelTecFA2F"

‎embodichain/data/assets/materials.py‎

Lines changed: 7 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -28,11 +28,14 @@
2828
)
2929

3030

31+
material_assets = "materials"
32+
33+
3134
class SimResources(EmbodiChainDataset):
3235
def __init__(self, data_root: str = None):
3336
data_descriptor = o3d.data.DataDescriptor(
3437
os.path.join(
35-
EMBODICHAIN_DOWNLOAD_PREFIX, "materials/embodisim_resources.zip"
38+
EMBODICHAIN_DOWNLOAD_PREFIX, material_assets, "embodisim_resources.zip"
3639
),
3740
"53c054b3ae0857416dc52632eb562c12",
3841
)
@@ -101,7 +104,9 @@ def get_material_list(self) -> List[str]:
101104
class CocoBackground(EmbodiChainDataset):
102105
def __init__(self, data_root: str = None):
103106
data_descriptor = o3d.data.DataDescriptor(
104-
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "materials/CocoBackground.zip"),
107+
os.path.join(
108+
EMBODICHAIN_DOWNLOAD_PREFIX, material_assets, "CocoBackground.zip"
109+
),
105110
"fda82404a317281263bd5849e9eb31a1",
106111
)
107112
prefix = "CocoBackground"

‎embodichain/data/assets/obj_assets.py‎

Lines changed: 21 additions & 28 deletions
Original file line numberDiff line numberDiff line change
@@ -24,11 +24,14 @@
2424
)
2525

2626

27+
obj_assets = "obj_assets"
28+
29+
2730
class ShopTableSimple(EmbodiChainDataset):
2831
def __init__(self, data_root: str = None):
2932
data_descriptor = o3d.data.DataDescriptor(
3033
os.path.join(
31-
EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/shop_table_simple.zip"
34+
EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "shop_table_simple.zip"
3235
),
3336
"e3061ee024de7840f773b70140dcd43f",
3437
)
@@ -42,7 +45,7 @@ class CircleTableSimple(EmbodiChainDataset):
4245
def __init__(self, data_root: str = None):
4346
data_descriptor = o3d.data.DataDescriptor(
4447
os.path.join(
45-
EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/circle_table_simple.zip"
48+
EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "circle_table_simple.zip"
4649
),
4750
"42ad2be8cd0caddcf9bfbf106b7783f3",
4851
)
@@ -55,7 +58,7 @@ def __init__(self, data_root: str = None):
5558
class PlasticBin(o3d.data.DownloadDataset):
5659
def __init__(self, data_root: str = None):
5760
data_descriptor = o3d.data.DataDescriptor(
58-
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/plastic_bin.zip"),
61+
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "plastic_bin.zip"),
5962
"21e00083689a4a3c4e4ae3fd89c61e55",
6063
)
6164
prefix = "PlasticBin"
@@ -67,8 +70,8 @@ def __init__(self, data_root: str = None):
6770
class Chair(o3d.data.DownloadDataset):
6871
def __init__(self, data_root: str = None):
6972
data_descriptor = o3d.data.DataDescriptor(
70-
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/chair.zip"),
71-
"df3d7d1a05731d45fb2c678a40a39cd4",
73+
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "chair.zip"),
74+
"2a971a92e0956e72f262308a1054dc73",
7275
)
7376
prefix = "Chair"
7477
path = EMBODICHAIN_DEFAULT_DATA_ROOT if data_root is None else data_root
@@ -79,7 +82,9 @@ def __init__(self, data_root: str = None):
7982
class ContainerMetal(EmbodiChainDataset):
8083
def __init__(self, data_root: str = None):
8184
data_descriptor = o3d.data.DataDescriptor(
82-
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/container_metal.zip"),
85+
os.path.join(
86+
EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "container_metal.zip"
87+
),
8388
"ceafb87f8177609f87aaa6779fcbb9a3",
8489
)
8590
prefix = "ContainerMetal"
@@ -92,7 +97,7 @@ class SimpleBoxDrawer(EmbodiChainDataset):
9297
def __init__(self, data_root: str = None):
9398
data_descriptor = o3d.data.DataDescriptor(
9499
os.path.join(
95-
EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/simple_box_drawer.zip"
100+
EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "simple_box_drawer.zip"
96101
),
97102
"966b648bca16823ee91525847c183973",
98103
)
@@ -105,7 +110,7 @@ def __init__(self, data_root: str = None):
105110
class AdrianoTable(EmbodiChainDataset):
106111
def __init__(self, data_root: str = None):
107112
data_descriptor = o3d.data.DataDescriptor(
108-
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/adriano_table.zip"),
113+
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "adriano_table.zip"),
109114
"8453583a9a1a9d04d50268f8a3da554f",
110115
)
111116
prefix = "AdrianoTable"
@@ -117,7 +122,7 @@ def __init__(self, data_root: str = None):
117122
class CoffeeCup(EmbodiChainDataset):
118123
def __init__(self, data_root: str = None):
119124
data_descriptor = o3d.data.DataDescriptor(
120-
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/CoffeeCup.zip"),
125+
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "CoffeeCup.zip"),
121126
"f05fce385826414c15e19df3b75dc886",
122127
)
123128
prefix = "CoffeeCup"
@@ -130,7 +135,7 @@ class SlidingBoxDrawer(EmbodiChainDataset):
130135
def __init__(self, data_root: str = None):
131136
data_descriptor = o3d.data.DataDescriptor(
132137
os.path.join(
133-
EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/SlidingBoxDrawer.zip"
138+
EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "SlidingBoxDrawer.zip"
134139
),
135140
"b03d9006503d27b75ddeb06d31b2c7a5",
136141
)
@@ -140,22 +145,10 @@ def __init__(self, data_root: str = None):
140145
super().__init__(prefix, data_descriptor, path)
141146

142147

143-
class AiLiMu_BoxDrawer(EmbodiChainDataset):
144-
def __init__(self, data_root: str = None):
145-
data_descriptor = o3d.data.DataDescriptor(
146-
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "AiLiMu_BoxDrawer_v3.zip"),
147-
"9a2889151a23d482f95f602cce9900c6",
148-
)
149-
prefix = "AiLiMu_BoxDrawer"
150-
path = EMBODICHAIN_DEFAULT_DATA_ROOT if data_root is None else data_root
151-
152-
super().__init__(prefix, data_descriptor, path)
153-
154-
155148
class AluminumTable(o3d.data.DownloadDataset):
156149
def __init__(self, data_root: str = None):
157150
data_descriptor = o3d.data.DataDescriptor(
158-
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "AluminumTable.glb"),
151+
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "AluminumTable.glb"),
159152
"02991d36ca9b70f019ed330a61143aa9",
160153
)
161154
prefix = "AluminumTable"
@@ -167,7 +160,7 @@ def __init__(self, data_root: str = None):
167160
class ToyDuck(EmbodiChainDataset):
168161
def __init__(self, data_root: str = None):
169162
data_descriptor = o3d.data.DataDescriptor(
170-
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "ToyDuck.zip"),
163+
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "ToyDuck.zip"),
171164
"2f5c00ba487edf34ad668f7257c0264e",
172165
)
173166
prefix = "ToyDuck"
@@ -179,7 +172,7 @@ def __init__(self, data_root: str = None):
179172
class PaperCup(EmbodiChainDataset):
180173
def __init__(self, data_root: str = None):
181174
data_descriptor = o3d.data.DataDescriptor(
182-
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "PaperCup.zip"),
175+
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "PaperCup.zip"),
183176
"359d13af8c5f31ad3226d8994a1a7198",
184177
)
185178
prefix = "PaperCup"
@@ -191,7 +184,7 @@ def __init__(self, data_root: str = None):
191184
class ChainRainSec(EmbodiChainDataset):
192185
def __init__(self, data_root: str = None):
193186
data_descriptor = o3d.data.DataDescriptor(
194-
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/lianguijie.zip"),
187+
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "lianguijie.zip"),
195188
"2387589040a4d3f2676b622362452242",
196189
)
197190
prefix = "ChainRainSec"
@@ -203,7 +196,7 @@ def __init__(self, data_root: str = None):
203196
class TableWare(EmbodiChainDataset):
204197
def __init__(self, data_root: str = None):
205198
data_descriptor = o3d.data.DataDescriptor(
206-
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/tableware.zip"),
199+
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "tableware.zip"),
207200
"403e340fc0e4996c002ee774f89cd236",
208201
)
209202
prefix = "TableWare"
@@ -215,7 +208,7 @@ def __init__(self, data_root: str = None):
215208
class ScannedBottle(EmbodiChainDataset):
216209
def __init__(self, data_root: str = None):
217210
data_descriptor = o3d.data.DataDescriptor(
218-
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/ScannedBottle.zip"),
211+
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "ScannedBottle.zip"),
219212
"d2b2d4deb7b463a734af099f7624b4af",
220213
)
221214
prefix = "ScannedBottle"

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