Add contribution docs

CONTRIBUTING.md

@@ -0,0 +1,47 @@
+# Contributing to EmbodiChain
+
+Thank you for your interest in contributing to EmbodiChain! We welcome contributions from the community to help make this project better.
+
+## Bug report and feature requests
+
+### Bug Report
+
+If you encounter a bug, please use the **Bug Report** template to submit an issue.
+*   Check if the issue has already been reported.
+*   Use the [Bug Report Template](.github/ISSUE_TEMPLATE/bug.md) when creating a new issue.
+*   Provide a clear and concise description of the bug.
+*   Include steps to reproduce the bug, along with error messages and stack traces if applicable.
+
+### Feature Requests
+
+If you have an idea for a new feature or improvement, please use the **Proposal** template.
+*   Use the [Proposal Template](.github/ISSUE_TEMPLATE/proposal.md).
+*   Describe the feature and its core capabilities.
+*   Explain the motivation behind the proposal and the problem it solves.
+
+## Pull requests
+
+We welcome pull requests for bug fixes, new features, and documentation improvements.
+
+1.  **Fork the repository** and create a new branch for your changes.
+2.  **Make your changes**. Please ensure your code is clean and readable.
+3.  **Run formatters**. We use `black` for code formatting. Please run it before submitting your PR.
+    ```bash
+    black .
+    ```
+    > Currently, we use black==24.3.0 for formatting. Make sure to use the same version to avoid inconsistencies.
+4.  **Submit a Pull Request**.
+    *   Use the [Pull Request Template](.github/PULL_REQUEST_TEMPLATE.md).
+    *   Keep PRs small and focused.
+    *   Include a summary of the changes and link to any relevant issues (e.g., `Fixes #123`).
+    *   Ensure all checks pass.
+
+## Contribute specific robots
+
+TODO: Add instructions for contributing new robot models and its configurations.
+
+## Contribute specific environments
+
+To contribute a new environment:
+
+TODO: Add instructions for contributing new environments.

tests/sim/solvers/test_differential_solver.py

@@ -119,14 +119,9 @@ def test_differential_solver(self, arm_name: str):
         assert res[0] == False
         assert ik_qpos.shape == (1, dof)
 
-    @classmethod
-    def teardown_class(cls):
-        if cls.sim is not None:
-            try:
-                cls.sim.destroy()
-                print("sim destroyed successfully")
-            except Exception as e:
-                print(f"Error during sim.destroy(): {e}")
+    def teardown_method(self):
+        """Clean up resources after each test method."""
+        self.sim.destroy()
 
 
 class TestDifferentialSolver(BaseSolverTest):

tests/sim/solvers/test_opw_solver.py

@@ -117,14 +117,9 @@ def test_ik(self, arm_name: str):
         assert res[0] == False
         assert ik_qpos.shape == (1, dof)
 
-    @classmethod
-    def teardown_class(cls):
-        if cls.sim is not None:
-            try:
-                cls.sim.destroy()
-                print("sim destroyed successfully")
-            except Exception as e:
-                print(f"Error during sim.destroy(): {e}")
+    def teardown_method(self):
+        """Clean up resources after each test method."""
+        self.sim.destroy()
 
 
 class TestOPWSolver(BaseSolverTest):

tests/sim/solvers/test_pink_solver.py

@@ -123,14 +123,9 @@ def test_differential_solver(self):
         assert res[0] == False
         assert ik_qpos.shape == (1, dof)
 
-    @classmethod
-    def teardown_class(cls):
-        if cls.sim is not None:
-            try:
-                cls.sim.destroy()
-                print("sim destroyed successfully")
-            except Exception as e:
-                print(f"Error during sim.destroy(): {e}")
+    def teardown_method(self):
+        """Clean up resources after each test method."""
+        self.sim.destroy()
 
 
 @pytest.mark.skip(reason="Skipping Pink tests temporarily")

tests/sim/solvers/test_pinocchio_solver.py

@@ -104,14 +104,9 @@ def test_ik(self, arm_name: str):
         assert res[0] == False
         assert ik_qpos.shape == (1, dof)
 
-    @classmethod
-    def teardown_class(cls):
-        if cls.sim is not None:
-            try:
-                cls.sim.destroy()
-                print("sim destroyed successfully")
-            except Exception as e:
-                print(f"Error during sim.destroy(): {e}")
+    def teardown_method(self):
+        """Clean up resources after each test method."""
+        self.sim.destroy()
 
 
 class TestPinocchioSolver(BaseSolverTest):

tests/sim/solvers/test_pytorch_solver.py

@@ -107,14 +107,9 @@ def test_ik(self, arm_name: str):
         assert res[0] == False
         assert ik_qpos.shape == (1, dof)
 
-    @classmethod
-    def teardown_class(cls):
-        if cls.sim is not None:
-            try:
-                cls.sim.destroy()
-                print("sim destroyed successfully")
-            except Exception as e:
-                print(f"Error during sim.destroy(): {e}")
+    def teardown_method(self):
+        """Clean up resources after each test method."""
+        self.sim.destroy()
 
 
 class TestPytorchSolver(BaseSolverTest):

tests/sim/solvers/test_srs_solver.py

@@ -269,14 +269,9 @@ def test_robot_ik(self, arm_name: str):
         assert res[0] == False
         assert ik_qpos.shape == (1, dof)
 
-    @classmethod
-    def teardown_class(cls):
-        if cls.sim is not None:
-            try:
-                cls.sim.destroy()
-                print("sim destroyed successfully")
-            except Exception as e:
-                print(f"Error during sim.destroy(): {e}")
+    def teardown_method(self):
+        """Clean up resources after each test method."""
+        self.sim.destroy()
 
 
 class TestSRSCPUSolver(BaseSolverTest):

tests/sim/utility/test_workspace_analyze.py

@@ -76,14 +76,9 @@ def setup_simulation(self):
 
         self.robot: Robot = self.sim.add_robot(cfg=CobotMagicCfg.from_dict(cfg_dict))
 
-    @classmethod
-    def teardown_class(cls):
-        if cls.sim is not None:
-            try:
-                cls.sim.destroy()
-                print("sim destroyed successfully")
-            except Exception as e:
-                print(f"Error during sim.destroy(): {e}")
+    def teardown_method(self):
+        """Clean up resources after each test method."""
+        self.sim.destroy()
 
 
 class TestJointWorkspaceAnalyzeTest(BaseWorkspaceAnalyzeTest):