facebookresearch · YLouWashU · Nov 4, 2025 · Nov 4, 2025 · Nov 4, 2025
diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml
@@ -71,15 +71,15 @@ jobs:
         run: |
           mkdir build
           cmake -DCMAKE_BUILD_TYPE=RELEASE -S . -B build \
-            -DBUILD_UNIT_TEST=OFF \
+            -DBUILD_UNIT_TEST=ON \
             -DCMAKE_POLICY_VERSION_MINIMUM=3.5
 
       - name: C++ - Build and Test
         shell: bash
         run: |
           cd build
           make -j8
-          # ctest -j # TODO: renable after including test data
+          ctest -j # TODO: renable after including test data
 
       - name: Set up Python
         uses: actions/setup-python@v4
@@ -93,11 +93,11 @@ jobs:
           CMAKE_BUILD_PARALLEL_LEVEL=4 pip3 install .
 
           # Run Python unit tests
-          #export TEST_FOLDER="./data/gen1/"
-          #export TEST_FOLDER_GEN2="./data/gen2/"
-          #python3 -m unittest core/python/test/corePyBindTest.py
-          #python3 -m unittest core/python/test/mpsPyBindTest.py
-          #python3 -m unittest core/python/sophus/test/sophusPybindTest.py
+          export TEST_FOLDER="./data/gen1/"
+          export TEST_FOLDER_GEN2="./data/gen2/"
+          python3 -m unittest core/python/test/corePyBindTest.py
+          python3 -m unittest core/python/test/mpsPyBindTest.py
+          python3 -m unittest core/python/sophus/test/sophusPybindTest.py
 
       - name: Test Python Notebooks
         shell: bash

diff --git a/.github/workflows/build-wheels-and-deploy.yml b/.github/workflows/build-wheels-and-deploy.yml
@@ -170,11 +170,10 @@ jobs:
           # Install wheel
           python -m pip install dist/*.whl
           # Run Python unit tests
-          # TODO: re-enable tests when test data is available
-          # export TEST_FOLDER="./data/gen1/"
-          # export TEST_FOLDER_GEN2="./data/gen2/"
-          # python -m unittest core/python/test/corePyBindTest.py
-          # python -m unittest core/python/test/mpsPyBindTest.py
+          export TEST_FOLDER="./data/gen1/"
+          export TEST_FOLDER_GEN2="./data/gen2/"
+          python -m unittest core/python/test/corePyBindTest.py
+          python -m unittest core/python/test/mpsPyBindTest.py
 
   publish-to-pypi:
     name: Publish to Pypi

diff --git a/.github/workflows/test-for-build-wheels.yml b/.github/workflows/test-for-build-wheels.yml
@@ -159,8 +159,7 @@ jobs:
           # Install wheel
           python -m pip install dist/*.whl
           # Run Python unit tests
-          # TODO: re-enable tests when test data is available
-          # export TEST_FOLDER="./data/gen1/"
-          # export TEST_FOLDER_GEN2="./data/gen2/"
-          # python -m unittest core/python/test/corePyBindTest.py
-          # python -m unittest core/python/test/mpsPyBindTest.py
+          export TEST_FOLDER="./data/gen1/"
+          export TEST_FOLDER_GEN2="./data/gen2/"
+          python -m unittest core/python/test/corePyBindTest.py
+          python -m unittest core/python/test/mpsPyBindTest.py
diff --git a/examples/Gen2/python_notebooks/Tutorial_1_vrs_data_provider_basics.ipynb b/examples/Gen2/python_notebooks/Tutorial_1_vrs_data_provider_basics.ipynb
@@ -29,8 +29,13 @@
         "- Basic Python knowledge and a general understanding of multimodal sensor data.\n",
         "- Download Aria Gen2 sample data from [link](https://www.projectaria.com/async/sample/download/?bucket=core&filename=aria_gen2_sample_data_1.vrs)\n",
         "\n",
-        "**Note on Visualization**\n",
-        "If visualization window is not showing up, this is due to `Rerun` lib's caching issue. Just rerun the specific code cell."
+        "### ⚠️ Important Notes\n",
+        "- **Google Colab Users:**  \n",
+        "  If you encounter a `ModuleNotFoundError: No module named 'rerun'` error after installing `rerun-sdk`, Colab may not recognize the new package until the runtime is restarted.  \n",
+        "  **Fix:** Go to **Runtime → Restart session and run all**.\n",
+        "\n",
+        "- **Visualization Issue :**  \n",
+        "  If a Rerun visualization window does not appear, this may be due to a known caching issue. Simply re-run the visualization cell to resolve it."
       ]
     },
     {
@@ -39,7 +44,7 @@
       "source": [
         "## Setup Environment (Google Colab)\n",
         "\n",
-        "If running on Google Colab, install `projectaria-tools` and set up the environment, and also download "
+        "If running on Google Colab, install `projectaria-tools` and set up the environment, and also download sample Aria Gen2 data. "
       ]
     },
     {
@@ -80,6 +85,10 @@
         "        !$command\n",
         "\n",
         "    print(f\"Download complete! VRS file saved to: {vrs_file_path}\")\n",
+        "\n",
+        "    # Running this command to trigger early failure of importing ReRun.\n",
+        "    # Should be resolved by restarting the Colab session.\n",
+        "    import rerun as rr\n",
         "else:\n",
         "    # For local environment, user needs to specify their own VRS file path\n",
         "    vrs_file_path = \"path/to/your/recording.vrs\"\n",

diff --git a/examples/Gen2/python_notebooks/Tutorial_2_device_calibration.ipynb b/examples/Gen2/python_notebooks/Tutorial_2_device_calibration.ipynb
@@ -28,8 +28,13 @@
         "- Familiarity with VRS basics from `Tutorial_1_vrs_Data_provider_basics.ipynb`.\n",
         "- Download Aria Gen2 sample data from [link](https://www.projectaria.com/async/sample/download/?bucket=core&filename=aria_gen2_sample_data_1.vrs)\n",
         "\n",
-        "**Note on Visualization**\n",
-        "If visualization window is not showing up, this is due to `Rerun` lib's caching issue. Just rerun the specific code cell."
+        "### ⚠️ Important Notes\n",
+        "- **Google Colab Users:**  \n",
+        "  If you encounter a `ModuleNotFoundError: No module named 'rerun'` error after installing `rerun-sdk`, Colab may not recognize the new package until the runtime is restarted.  \n",
+        "  **Fix:** Go to **Runtime → Restart session and run all**.\n",
+        "\n",
+        "- **Visualization Issue :**  \n",
+        "  If a Rerun visualization window does not appear, this may be due to a known caching issue. Simply re-run the visualization cell to resolve it."
       ]
     },
     {
@@ -79,6 +84,10 @@
         "        !$command\n",
         "\n",
         "    print(f\"Download complete! VRS file saved to: {vrs_file_path}\")\n",
+        "\n",
+        "    # Running this command to trigger early failure of importing ReRun.\n",
+        "    # Should be resolved by restarting the Colab session.\n",
+        "    import rerun as rr\n",
         "else:\n",
         "    # For local environment, user needs to specify their own VRS file path\n",
         "    vrs_file_path = \"path/to/your/recording.vrs\"\n",

diff --git a/examples/Gen2/python_notebooks/Tutorial_3_sequential_access_multi_sensor_data.ipynb b/examples/Gen2/python_notebooks/Tutorial_3_sequential_access_multi_sensor_data.ipynb
@@ -23,8 +23,13 @@
         "- Complete Tutorial 1 (VrsDataProvider Basics) to understand basic data provider concepts\n",
         "- Download Aria Gen2 sample data from [link](https://www.projectaria.com/async/sample/download/?bucket=core&filename=aria_gen2_sample_data_1.vrs)\n",
         "\n",
-        "**Note on Visualization**\n",
-        "If visualization window is not showing up, this is due to `Rerun` lib's caching issue. Just rerun the specific code cell."
+        "### ⚠️ Important Notes\n",
+        "- **Google Colab Users:**  \n",
+        "  If you encounter a `ModuleNotFoundError: No module named 'rerun'` error after installing `rerun-sdk`, Colab may not recognize the new package until the runtime is restarted.  \n",
+        "  **Fix:** Go to **Runtime → Restart session and run all**.\n",
+        "\n",
+        "- **Visualization Issue :**  \n",
+        "  If a Rerun visualization window does not appear, this may be due to a known caching issue. Simply re-run the visualization cell to resolve it."
       ]
     },
     {
@@ -74,6 +79,10 @@
         "        !$command\n",
         "\n",
         "    print(f\"Download complete! VRS file saved to: {vrs_file_path}\")\n",
+        "\n",
+        "    # Running this command to trigger early failure of importing ReRun.\n",
+        "    # Should be resolved by restarting the Colab session.\n",
+        "    import rerun as rr\n",
         "else:\n",
         "    # For local environment, user needs to specify their own VRS file path\n",
         "    vrs_file_path = \"path/to/your/recording.vrs\"\n",

diff --git a/examples/Gen2/python_notebooks/Tutorial_4_on_device_eyetracking_handtracking.ipynb b/examples/Gen2/python_notebooks/Tutorial_4_on_device_eyetracking_handtracking.ipynb
@@ -27,8 +27,13 @@
         "- Complete Tutorial 2 (Device Calibration) to understand how to properly use calibration in Aria data.\n",
         "- Download Aria Gen2 sample data from [link](https://www.projectaria.com/async/sample/download/?bucket=core&filename=aria_gen2_sample_data_1.vrs)\n",
         "\n",
-        "**Note on Visualization**\n",
-        "If visualization window is not showing up, this is due to `Rerun` lib's caching issue. Just rerun the specific code cell, or restart the python kernel. "
+        "### ⚠️ Important Notes\n",
+        "- **Google Colab Users:**  \n",
+        "  If you encounter a `ModuleNotFoundError: No module named 'rerun'` error after installing `rerun-sdk`, Colab may not recognize the new package until the runtime is restarted.  \n",
+        "  **Fix:** Go to **Runtime → Restart session and run all**.\n",
+        "\n",
+        "- **Visualization Issue :**  \n",
+        "  If a Rerun visualization window does not appear, this may be due to a known caching issue. Simply re-run the visualization cell to resolve it."
       ]
     },
     {
@@ -78,6 +83,10 @@
         "        !$command\n",
         "\n",
         "    print(f\"Download complete! VRS file saved to: {vrs_file_path}\")\n",
+        "\n",
+        "    # Running this command to trigger early failure of importing ReRun.\n",
+        "    # Should be resolved by restarting the Colab session.\n",
+        "    import rerun as rr\n",
         "else:\n",
         "    # For local environment, user needs to specify their own VRS file path\n",
         "    vrs_file_path = \"path/to/your/recording.vrs\"\n",

diff --git a/examples/Gen2/python_notebooks/Tutorial_5_on_device_vio.ipynb b/examples/Gen2/python_notebooks/Tutorial_5_on_device_vio.ipynb
@@ -5,7 +5,6 @@
       "id": "4f4737c1",
       "metadata": {},
       "source": [
-        "# Tutorial 5: On-Device VIO data streams\n",
         "\n",
         "## Introduction\n",
         "\n",
@@ -27,8 +26,13 @@
         "- Download Aria Gen2 sample data from [link](https://www.projectaria.com/async/sample/download/?bucket=core&filename=aria_gen2_sample_data_1.vrs)\n",
         "\n",
         "\n",
-        "**Note on visualization:**\n",
-        "If visualization window is not showing up, this is due to `Rerun` lib's caching issue. Just rerun the specific code cell."
+        "### ⚠️ Important Notes\n",
+        "- **Google Colab Users:**  \n",
+        "  If you encounter a `ModuleNotFoundError: No module named 'rerun'` error after installing `rerun-sdk`, Colab may not recognize the new package until the runtime is restarted.  \n",
+        "  **Fix:** Go to **Runtime → Restart session and run all**.\n",
+        "\n",
+        "- **Visualization Issue :**  \n",
+        "  If a Rerun visualization window does not appear, this may be due to a known caching issue. Simply re-run the visualization cell to resolve it."
       ]
     },
     {
@@ -78,6 +82,10 @@
         "        !$command\n",
         "\n",
         "    print(f\"Download complete! VRS file saved to: {vrs_file_path}\")\n",
+        "\n",
+        "    # Running this command to trigger early failure of importing ReRun.\n",
+        "    # Should be resolved by restarting the Colab session.\n",
+        "    import rerun as rr\n",
         "else:\n",
         "    # For local environment, user needs to specify their own VRS file path\n",
         "    vrs_file_path = \"path/to/your/recording.vrs\"\n",

diff --git a/examples/Gen2/python_notebooks/Tutorial_6_timestamp_alignment_in_aria_gen2.ipynb b/examples/Gen2/python_notebooks/Tutorial_6_timestamp_alignment_in_aria_gen2.ipynb
@@ -26,8 +26,13 @@
         "- Download Aria Gen2 sample data: [host recording](https://www.projectaria.com/async/sample/download/?bucket=core&filename=aria_gen2_sample_data_host_1.vrs) and [client recording](https://www.projectaria.com/async/sample/download/?bucket=core&filename=aria_gen2_sample_data_client_1.vrs)\n",
         "\n",
         "\n",
-        "**Note on visualization:**\n",
-        "If visualization window is not showing up, this is due to `Rerun` lib's caching issue. Just rerun the specific code cell, or restart the Python kernel. "
+        "### ⚠️ Important Notes\n",
+        "- **Google Colab Users:**  \n",
+        "  If you encounter a `ModuleNotFoundError: No module named 'rerun'` error after installing `rerun-sdk`, Colab may not recognize the new package until the runtime is restarted.  \n",
+        "  **Fix:** Go to **Runtime → Restart session and run all**.\n",
+        "\n",
+        "- **Visualization Issue :**  \n",
+        "  If a Rerun visualization window does not appear, this may be due to a known caching issue. Simply re-run the visualization cell to resolve it."
       ]
     },
     {
@@ -85,6 +90,10 @@
         "    print(f\"Download complete!\")\n",
         "    print(f\"Host VRS file saved to: {host_recording}\")\n",
         "    print(f\"Client VRS file saved to: {client_recording}\")\n",
+        "\n",
+        "    # Running this command to trigger early failure of importing ReRun.\n",
+        "    # Should be resolved by restarting the Colab session.\n",
+        "    import rerun as rr\n",
         "else:\n",
         "    # For local environment, user needs to specify their own VRS file paths\n",
         "    host_recording = \"path/to/host.vrs\"\n",

diff --git a/examples/Gen2/python_notebooks/Tutorial_7_mps_data_provider_basics.ipynb b/examples/Gen2/python_notebooks/Tutorial_7_mps_data_provider_basics.ipynb
@@ -29,8 +29,13 @@
         "- Complete Tutorial 2 (Device Calibration) to understand how to properly use calibration in Aria data.\n",
         "- Download Aria Gen2 sample data: [VRS](https://www.projectaria.com/async/sample/download/?bucket=core&filename=aria_gen2_sample_data_1.vrs) and [MPS output zip file](https://www.projectaria.com/async/sample/download/?bucket=core&filename=aria_gen2_sample_data_1_mps_output.zip).\n",
         "\n",
-        "**Note on Visualization**\n",
-        "If visualization window is not showing up, this is due to `Rerun` lib's caching issue. Just rerun the specific code cell."
+        "### ⚠️ Important Notes\n",
+        "- **Google Colab Users:**  \n",
+        "  If you encounter a `ModuleNotFoundError: No module named 'rerun'` error after installing `rerun-sdk`, Colab may not recognize the new package until the runtime is restarted.  \n",
+        "  **Fix:** Go to **Runtime → Restart session and run all**.\n",
+        "\n",
+        "- **Visualization Issue :**  \n",
+        "  If a Rerun visualization window does not appear, this may be due to a known caching issue. Simply re-run the visualization cell to resolve it.."
       ]
     },
     {
@@ -90,6 +95,10 @@
         "    print(f\"Download complete!\")\n",
         "    print(f\"VRS file saved to: {vrs_file_path}\")\n",
         "    print(f\"MPS data extracted to: {mps_folder_path}\")\n",
+        "\n",
+        "    # Running this command to trigger early failure of importing ReRun.\n",
+        "    # Should be resolved by restarting the Colab session.\n",
+        "    import rerun as rr\n",
         "else:\n",
         "    # For local environment, user needs to specify their own paths\n",
         "    vrs_file_path = \"path/to/your/recording.vrs\"\n",

diff --git a/pixi.toml b/pixi.toml
@@ -22,9 +22,8 @@ prepare = "cmake -GNinja -B build -S . -DBUILD_UNIT_TEST=ON -DCMAKE_POLICY_VERSI
 build = "cmake --build build --target all"
 test = "cd build; ctest -j"
 
-# TODO: re-enable test when we have test data
 prepare_and_build = { depends-on = ["prepare", "build"] }
-build_and_test = { depends-on = ["prepare_and_build"] }
+build_and_test = { depends-on = ["prepare_and_build", "test"] }
 run_c = { depends-on = ["build_and_test"] }
 
 #
@@ -37,8 +36,7 @@ test_python = """
     python -m unittest core/python/test/mpsPyBindTest.py;
     python -m unittest core/python/sophus/test/sophusPybindTest.py;"""
 
-# TODO: re-enable test when we have test data
-run_python = { depends-on = ["build_python"]}
+run_python = { depends-on = ["build_python", "test_python"]}
 
 #
 # Python - PACKAGE
@@ -54,7 +52,7 @@ cmake-generator = "cmake --help"
 prepare = "cmake -B build -S . -DCMAKE_BUILD_TYPE=Release -DBUILD_UNIT_TEST=ON -DCMAKE_POLICY_VERSION_MINIMUM=3.5"
 build = "cmake --build build --config Release -- /nologo /verbosity:minimal /maxcpucount"
 # --parallel 4 -- /m
-# test = "cd build; ctest -C Release -j"
+test = "cd build; ctest -C Release -j"
 
 build_python = "python -m pip install ."
 

diff --git a/website/docs-research-tools/projectariatools/pythontutorials/calibration.mdx b/website/docs-research-tools/projectariatools/pythontutorials/calibration.mdx
@@ -9,7 +9,7 @@ import TutorialButtons from '@site/src/components/TutorialButtons';
 
 <TutorialButtons
   notebookUrl="https://github.com/facebookresearch/projectaria_tools/blob/main/examples/Gen2/python_notebooks/Tutorial_2_device_calibration.ipynb"
-  colabDisabled={true}
+  colabUrl="https://colab.research.google.com/github/facebookresearch/projectaria_tools/blob/main/examples/Gen2/python_notebooks/Tutorial_2_device_calibration.ipynb"
 />
 
 ## Introduction

diff --git a/website/docs-research-tools/projectariatools/pythontutorials/dataprovider.mdx b/website/docs-research-tools/projectariatools/pythontutorials/dataprovider.mdx
@@ -9,7 +9,7 @@ import TutorialButtons from '@site/src/components/TutorialButtons';
 
 <TutorialButtons
   notebookUrl="https://github.com/facebookresearch/projectaria_tools/blob/main/examples/Gen2/python_notebooks/Tutorial_1_vrs_data_provider_basics.ipynb"
-  colabDisabled={true}
+  colabUrl="https://colab.research.google.com/github/facebookresearch/projectaria_tools/blob/main/examples/Gen2/python_notebooks/Tutorial_1_vrs_data_provider_basics.ipynb"
 />
 
 ## Introduction

diff --git a/...cs-research-tools/projectariatools/pythontutorials/eyetracking-handtracking.mdx b/...cs-research-tools/projectariatools/pythontutorials/eyetracking-handtracking.mdx
@@ -9,7 +9,7 @@ import TutorialButtons from '@site/src/components/TutorialButtons';
 
 <TutorialButtons
   notebookUrl="https://github.com/facebookresearch/projectaria_tools/blob/main/examples/Gen2/python_notebooks/Tutorial_4_on_device_eyetracking_handtracking.ipynb"
-  colabDisabled={true}
+  colabUrl="https://colab.research.google.com/github/facebookresearch/projectaria_tools/blob/main/examples/Gen2/python_notebooks/Tutorial_4_on_device_eyetracking_handtracking.ipynb"
 />
 
 ## Introduction

diff --git a/website/docs-research-tools/projectariatools/pythontutorials/mps.mdx b/website/docs-research-tools/projectariatools/pythontutorials/mps.mdx
@@ -9,7 +9,7 @@ import TutorialButtons from '@site/src/components/TutorialButtons';
 
 <TutorialButtons
   notebookUrl="https://github.com/facebookresearch/projectaria_tools/blob/main/examples/Gen2/python_notebooks/Tutorial_7_mps_data_provider_basics.ipynb"
-  colabDisabled={true}
+  colabUrl="https://colab.research.google.com/github/facebookresearch/projectaria_tools/blob/main/examples/Gen2/python_notebooks/Tutorial_7_mps_data_provider_basics.ipynb"
 />
 
 ## Introduction

diff --git a/website/docs-research-tools/projectariatools/pythontutorials/queue.mdx b/website/docs-research-tools/projectariatools/pythontutorials/queue.mdx
@@ -9,7 +9,7 @@ import TutorialButtons from '@site/src/components/TutorialButtons';
 
 <TutorialButtons
   notebookUrl="https://github.com/facebookresearch/projectaria_tools/blob/main/examples/Gen2/python_notebooks/Tutorial_3_sequential_access_multi_sensor_data.ipynb"
-  colabDisabled={true}
+  colabUrl="https://colab.research.google.com/github/facebookresearch/projectaria_tools/blob/main/examples/Gen2/python_notebooks/Tutorial_3_sequential_access_multi_sensor_data.ipynb"
 />
 
 ## Introduction

diff --git a/website/docs-research-tools/projectariatools/pythontutorials/time-sync.mdx b/website/docs-research-tools/projectariatools/pythontutorials/time-sync.mdx
@@ -9,7 +9,7 @@ import TutorialButtons from '@site/src/components/TutorialButtons';
 
 <TutorialButtons
   notebookUrl="https://github.com/facebookresearch/projectaria_tools/blob/main/examples/Gen2/python_notebooks/Tutorial_6_timestamp_alignment_in_aria_gen2.ipynb"
-  colabDisabled={true}
+  colabUrl="https://colab.research.google.com/github/facebookresearch/projectaria_tools/blob/main/examples/Gen2/python_notebooks/Tutorial_6_timestamp_alignment_in_aria_gen2.ipynb"
 />
 
 ## Introduction

diff --git a/website/docs-research-tools/projectariatools/pythontutorials/vio.mdx b/website/docs-research-tools/projectariatools/pythontutorials/vio.mdx
@@ -9,7 +9,7 @@ import TutorialButtons from '@site/src/components/TutorialButtons';
 
 <TutorialButtons
   notebookUrl="https://github.com/facebookresearch/projectaria_tools/blob/main/examples/Gen2/python_notebooks/Tutorial_5_on_device_vio.ipynb"
-  colabDisabled={true}
+  colabUrl="https://colab.research.google.com/github/facebookresearch/projectaria_tools/blob/main/examples/Gen2/python_notebooks/Tutorial_5_on_device_vio.ipynb"
 />
 
 ## Introduction