Enable unit test in workflow

.github/workflows/main.yml

@@ -72,10 +72,10 @@ jobs:
       - uses: actions/checkout@v4
       - name: (CI) Run tests
         run: |
-          # pip install -e .
+          pip install -e .
           echo "Unit test Start"
-          # export HF_ENDPOINT=https://hf-mirror.com
-          # pytest tests
+          export HF_ENDPOINT=https://hf-mirror.com
+          pytest tests
 
   publish:
     if: github.event_name == 'push' && github.ref == 'refs/heads/main'

docs/source/quick_start/install.md

@@ -14,7 +14,6 @@ The following minimum system requirements are recommended to run EmbodiChain rel
 
 - Python:
     - Supported Python versions:
-        - Python 3.9
         - Python 3.10
     - Use a virtual environment (venv, virtualenv, or conda) to isolate dependencies
 

embodichain/data/assets/demo_assets.py

@@ -23,11 +23,15 @@
     EMBODICHAIN_DEFAULT_DATA_ROOT,
 )
 
+demo_assets = "demo"
+
 
 class ScoopIceNewEnv(EmbodiChainDataset):
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
-            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "demo/ScoopIceNewEnv.zip"),
+            os.path.join(
+                EMBODICHAIN_DOWNLOAD_PREFIX, demo_assets, "ScoopIceNewEnv.zip"
+            ),
             "e92734a9de0f64be33a11fbda0fbd3b6",
         )
         prefix = "ScoopIceNewEnv"
@@ -39,7 +43,7 @@ def __init__(self, data_root: str = None):
 class MultiW1Data(EmbodiChainDataset):
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
-            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "demo/multi_w1_demo.zip"),
+            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, demo_assets, "multi_w1_demo.zip"),
             "984e8fa3aa05cb36a1fd973a475183ed",
         )
         prefix = "MultiW1Data"

embodichain/data/assets/eef_assets.py

@@ -24,6 +24,9 @@
 )
 
 
+eef_assets = "eef_assets"
+
+
 class DH_PGC_140_50(EmbodiChainDataset):
     """Dataset class for the DH Robotics PGC-140-50 end-effector gripper.
 
@@ -44,7 +47,7 @@ class DH_PGC_140_50(EmbodiChainDataset):
 
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
-            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "eef_assets/DH_PGC_140_50.zip"),
+            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, eef_assets, "DH_PGC_140_50.zip"),
             "c2a642308a76e99b1b8b7cb3a11c5df3",
         )
         prefix = "DH_PGC_140_50"
@@ -73,7 +76,7 @@ class DH_PGI_140_80(EmbodiChainDataset):
 
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
-            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "eef_assets/DH_PGI_140_80.zip"),
+            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, eef_assets, "DH_PGI_140_80.zip"),
             "05a1a08b13c6250cc12affeeda3a08ba",
         )
         prefix = "DH_PGI_140_80"
@@ -103,7 +106,9 @@ class DH_PGC_140_50_M(EmbodiChainDataset):
 
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
-            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "eef_assets/DH_PGC_140_50_M.zip"),
+            os.path.join(
+                EMBODICHAIN_DOWNLOAD_PREFIX, eef_assets, "DH_PGC_140_50_M.zip"
+            ),
             "3a9ab5f32639e03afb38dc033b44bb62",
         )
         prefix = "DH_PGC_140_50_M"
@@ -132,7 +137,7 @@ class ZH_CTM2F110(EmbodiChainDataset):
 
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
-            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "eef_assets/ZH_CTM2F110.zip"),
+            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, eef_assets, "ZH_CTM2F110.zip"),
             "0e7c3310425609797fe010b2a76fe465",
         )
         prefix = "ZH_CTM2F110"
@@ -164,7 +169,7 @@ class BrainCoHandRevo1(EmbodiChainDataset):
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
             os.path.join(
-                EMBODICHAIN_DOWNLOAD_PREFIX, "eef_assets/BrainCoHandRevo01.zip"
+                EMBODICHAIN_DOWNLOAD_PREFIX, eef_assets, "BrainCoHandRevo01.zip"
             ),
             "ff9ac77e7e1493fd32d40c87fecbee6c",
         )
@@ -200,7 +205,7 @@ class InspireHand(EmbodiChainDataset):
 
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
-            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "eef_assets/InspireHand.zip"),
+            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, eef_assets, "InspireHand.zip"),
             "c60132a6f03866fb021cca5b6d72845e",
         )
         prefix = "InspireHand"
@@ -229,7 +234,7 @@ class Robotiq2F85(EmbodiChainDataset):
 
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
-            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "eef_assets/Robotiq2F85.zip"),
+            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, eef_assets, "Robotiq2F85.zip"),
             "53ecbf2c953f43f1134aa7223e592292",
         )
         prefix = "Robotiq2F85"
@@ -258,7 +263,7 @@ class WheelTecFA2F(EmbodiChainDataset):
 
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
-            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "eef_assets/WheelTecFA2F.zip"),
+            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, eef_assets, "WheelTecFA2F.zip"),
             "feaf13f25b1c6ce58d011b1f2fa72f58",
         )
         prefix = "WheelTecFA2F"

embodichain/data/assets/materials.py

@@ -28,11 +28,14 @@
 )
 
 
+material_assets = "materials"
+
+
 class SimResources(EmbodiChainDataset):
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
             os.path.join(
-                EMBODICHAIN_DOWNLOAD_PREFIX, "materials/embodisim_resources.zip"
+                EMBODICHAIN_DOWNLOAD_PREFIX, material_assets, "embodisim_resources.zip"
             ),
             "53c054b3ae0857416dc52632eb562c12",
         )
@@ -101,7 +104,9 @@ def get_material_list(self) -> List[str]:
 class CocoBackground(EmbodiChainDataset):
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
-            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "materials/CocoBackground.zip"),
+            os.path.join(
+                EMBODICHAIN_DOWNLOAD_PREFIX, material_assets, "CocoBackground.zip"
+            ),
             "fda82404a317281263bd5849e9eb31a1",
         )
         prefix = "CocoBackground"

embodichain/data/assets/obj_assets.py

@@ -24,11 +24,14 @@
 )
 
 
+obj_assets = "obj_assets"
+
+
 class ShopTableSimple(EmbodiChainDataset):
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
             os.path.join(
-                EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/shop_table_simple.zip"
+                EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "shop_table_simple.zip"
             ),
             "e3061ee024de7840f773b70140dcd43f",
         )
@@ -42,7 +45,7 @@ class CircleTableSimple(EmbodiChainDataset):
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
             os.path.join(
-                EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/circle_table_simple.zip"
+                EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "circle_table_simple.zip"
             ),
             "42ad2be8cd0caddcf9bfbf106b7783f3",
         )
@@ -55,7 +58,7 @@ def __init__(self, data_root: str = None):
 class PlasticBin(o3d.data.DownloadDataset):
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
-            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/plastic_bin.zip"),
+            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "plastic_bin.zip"),
             "21e00083689a4a3c4e4ae3fd89c61e55",
         )
         prefix = "PlasticBin"
@@ -67,8 +70,8 @@ def __init__(self, data_root: str = None):
 class Chair(o3d.data.DownloadDataset):
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
-            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/chair.zip"),
-            "df3d7d1a05731d45fb2c678a40a39cd4",
+            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "chair.zip"),
+            "2a971a92e0956e72f262308a1054dc73",
         )
         prefix = "Chair"
         path = EMBODICHAIN_DEFAULT_DATA_ROOT if data_root is None else data_root
@@ -79,7 +82,9 @@ def __init__(self, data_root: str = None):
 class ContainerMetal(EmbodiChainDataset):
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
-            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/container_metal.zip"),
+            os.path.join(
+                EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "container_metal.zip"
+            ),
             "ceafb87f8177609f87aaa6779fcbb9a3",
         )
         prefix = "ContainerMetal"
@@ -92,7 +97,7 @@ class SimpleBoxDrawer(EmbodiChainDataset):
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
             os.path.join(
-                EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/simple_box_drawer.zip"
+                EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "simple_box_drawer.zip"
             ),
             "966b648bca16823ee91525847c183973",
         )
@@ -105,7 +110,7 @@ def __init__(self, data_root: str = None):
 class AdrianoTable(EmbodiChainDataset):
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
-            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/adriano_table.zip"),
+            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "adriano_table.zip"),
             "8453583a9a1a9d04d50268f8a3da554f",
         )
         prefix = "AdrianoTable"
@@ -117,7 +122,7 @@ def __init__(self, data_root: str = None):
 class CoffeeCup(EmbodiChainDataset):
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
-            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/CoffeeCup.zip"),
+            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "CoffeeCup.zip"),
             "f05fce385826414c15e19df3b75dc886",
         )
         prefix = "CoffeeCup"
@@ -130,7 +135,7 @@ class SlidingBoxDrawer(EmbodiChainDataset):
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
             os.path.join(
-                EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/SlidingBoxDrawer.zip"
+                EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "SlidingBoxDrawer.zip"
             ),
             "b03d9006503d27b75ddeb06d31b2c7a5",
         )
@@ -140,22 +145,10 @@ def __init__(self, data_root: str = None):
         super().__init__(prefix, data_descriptor, path)
 
 
-class AiLiMu_BoxDrawer(EmbodiChainDataset):
-    def __init__(self, data_root: str = None):
-        data_descriptor = o3d.data.DataDescriptor(
-            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "AiLiMu_BoxDrawer_v3.zip"),
-            "9a2889151a23d482f95f602cce9900c6",
-        )
-        prefix = "AiLiMu_BoxDrawer"
-        path = EMBODICHAIN_DEFAULT_DATA_ROOT if data_root is None else data_root
-
-        super().__init__(prefix, data_descriptor, path)
-
-
 class AluminumTable(o3d.data.DownloadDataset):
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
-            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "AluminumTable.glb"),
+            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "AluminumTable.glb"),
             "02991d36ca9b70f019ed330a61143aa9",
         )
         prefix = "AluminumTable"
@@ -167,7 +160,7 @@ def __init__(self, data_root: str = None):
 class ToyDuck(EmbodiChainDataset):
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
-            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "ToyDuck.zip"),
+            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "ToyDuck.zip"),
             "2f5c00ba487edf34ad668f7257c0264e",
         )
         prefix = "ToyDuck"
@@ -179,7 +172,7 @@ def __init__(self, data_root: str = None):
 class PaperCup(EmbodiChainDataset):
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
-            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "PaperCup.zip"),
+            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "PaperCup.zip"),
             "359d13af8c5f31ad3226d8994a1a7198",
         )
         prefix = "PaperCup"
@@ -191,7 +184,7 @@ def __init__(self, data_root: str = None):
 class ChainRainSec(EmbodiChainDataset):
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
-            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/lianguijie.zip"),
+            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "lianguijie.zip"),
             "2387589040a4d3f2676b622362452242",
         )
         prefix = "ChainRainSec"
@@ -203,7 +196,7 @@ def __init__(self, data_root: str = None):
 class TableWare(EmbodiChainDataset):
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
-            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/tableware.zip"),
+            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "tableware.zip"),
             "403e340fc0e4996c002ee774f89cd236",
         )
         prefix = "TableWare"
@@ -215,7 +208,7 @@ def __init__(self, data_root: str = None):
 class ScannedBottle(EmbodiChainDataset):
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
-            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, "obj_assets/ScannedBottle.zip"),
+            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "ScannedBottle.zip"),
             "d2b2d4deb7b463a734af099f7624b4af",
         )
         prefix = "ScannedBottle"