Moved all unit tests to a separate folder.

facebookresearch · Nov 4, 2022 · 70603be · 70603be
1 parent 2d4cc23
commit 70603be
Show file tree

Hide file tree

Showing 69 changed files with 42 additions and 40 deletions.
diff --git a/.circleci/config.yml b/.circleci/config.yml
@@ -173,8 +173,8 @@ run_tests: &run_tests
       name: Running tests
       working_directory: ~/project
       command: |
-        pytest -s theseus/tests/test_theseus_layer.py
-        pytest -s theseus -m "cudaext"
+        pytest -s tests/test_theseus_layer.py
+        pytest -s tests -m "cudaext"
 
 # -------------------------------------------------------------------------------------
 # Jobs

diff --git a/README.md b/README.md
@@ -124,7 +124,7 @@ We support several features that improve computation times and memory consumptio
 
 ### Running unit tests (requires `dev` installation)
 ```bash
-python -m pytest theseus
+python -m pytest tests
 ```
 By default, unit tests include tests for our CUDA extensions. You can add the option `-m "not cudaext"`
 to skip them when installing without CUDA support. Additionally, the tests for sparse solver BaSpaCho are automatically 

diff --git a/docs/source/getting-started.rst b/docs/source/getting-started.rst
@@ -35,7 +35,7 @@ The simplest way to install Theseus from source is by running the following (see
 
     git clone https://github.com/facebookresearch/theseus.git
     pip install -e .
-    python -m pytest theseus
+    python -m pytest tests
 
 If you are interested in contributing to ``theseus``, instead install using 
 
@@ -65,7 +65,7 @@ With ``dev`` installation, you can run unit tests via
 
 .. code-block:: bash
 
-    python -m pytest theseus
+    python -m pytest tests
 
 By default, unit tests include tests for our CUDA extensions. You can add the option `-m "not cudaext"`
 to skip them when installing without CUDA support. Additionally, the tests for sparse solver BaSpaCho are automatically 

diff --git a/examples/se2_inverse.py b/examples/se2_inverse.py
@@ -10,9 +10,9 @@
 import torch
 
 import theseus as th
+from tests.geometry.test_se2 import create_random_se2
 from theseus import LieGroupTensor
 from theseus.geometry.lie_group import LieGroup
-from theseus.geometry.tests.test_se2 import create_random_se2
 
 # Create two random SE2
 rng = torch.Generator()

diff --git a/noxfile.py b/noxfile.py
@@ -21,5 +21,7 @@ def mypy_and_tests(session):
     session.install("torch")
     session.install("-r", "requirements/dev.txt")
     session.run("mypy", "theseus")
-    session.install("-e", ".", env={'BASPACHO_ROOT_DIR': os.environ.get('BASPACHO_ROOT_DIR')})
-    session.run("pytest", "theseus", "-m", "(not cudaext)")
+    session.install(
+        "-e", ".", env={"BASPACHO_ROOT_DIR": os.environ.get("BASPACHO_ROOT_DIR")}
+    )
+    session.run("pytest", "tests", "-m", "(not cudaext)")
diff --git a/setup.cfg b/setup.cfg
@@ -8,7 +8,7 @@ per-file-ignores =
     *__init__.py:F401
     # E261,E241,E121,E131,E201,E202: formatting options, to avoid having to
     # re-format explicit sparse matrices used for a small example
-    theseus/extlib/tests/test_baspacho_simple.py:E261,E241,E121,E131,E201,E202
+    tests/extlib/test_baspacho_simple.py:E261,E241,E121,E131,E201,E202
 
 [mypy]
 python_version = 3.7

diff --git a/theseus/core/tests/__init__.py → tests/core/__init__.py b/theseus/core/tests/__init__.py → tests/core/__init__.py
diff --git a/theseus/core/tests/common.py → tests/core/common.py b/theseus/core/tests/common.py → tests/core/common.py
diff --git a/theseus/core/tests/test_cost_function.py → tests/core/test_cost_function.py b/theseus/core/tests/test_cost_function.py → tests/core/test_cost_function.py
diff --git a/theseus/core/tests/test_cost_weight.py → tests/core/test_cost_weight.py b/theseus/core/tests/test_cost_weight.py → tests/core/test_cost_weight.py
diff --git a/theseus/core/tests/test_manifold.py → tests/core/test_manifold.py b/theseus/core/tests/test_manifold.py → tests/core/test_manifold.py
diff --git a/theseus/core/tests/test_objective.py → tests/core/test_objective.py b/theseus/core/tests/test_objective.py → tests/core/test_objective.py
diff --git a/theseus/core/tests/test_robust_cost.py → tests/core/test_robust_cost.py b/theseus/core/tests/test_robust_cost.py → tests/core/test_robust_cost.py
@@ -6,7 +6,7 @@
 import torch
 
 import theseus as th
-from theseus.core.tests.common import BATCH_SIZES_TO_TEST
+from tests.core.common import BATCH_SIZES_TO_TEST
 
 
 def _new_robust_cf(batch_size, loss_cls, generator) -> th.RobustCostFunction:

diff --git a/theseus/core/tests/test_theseus_function.py → tests/core/test_theseus_function.py b/theseus/core/tests/test_theseus_function.py → tests/core/test_theseus_function.py
diff --git a/theseus/core/tests/test_variable.py → tests/core/test_variable.py b/theseus/core/tests/test_variable.py → tests/core/test_variable.py
diff --git a/theseus/core/tests/test_vectorizer.py → tests/core/test_vectorizer.py b/theseus/core/tests/test_vectorizer.py → tests/core/test_vectorizer.py
@@ -8,7 +8,7 @@
 import torch
 
 import theseus as th
-from theseus.core.tests.common import BATCH_SIZES_TO_TEST
+from tests.core.common import BATCH_SIZES_TO_TEST
 from theseus.core.vectorizer import _CostFunctionWrapper
 
 

diff --git a/theseus/embodied/collision/tests/__init__.py → tests/embodied/collision/__init__.py b/theseus/embodied/collision/tests/__init__.py → tests/embodied/collision/__init__.py
diff --git a/.../collision/tests/test_collision_factor.py → ...bodied/collision/test_collision_factor.py b/.../collision/tests/test_collision_factor.py → ...bodied/collision/test_collision_factor.py
@@ -7,7 +7,7 @@
 import torch
 
 import theseus as th
-from theseus.core.tests.common import (
+from tests.core.common import (
     BATCH_SIZES_TO_TEST,
     check_another_theseus_function_is_copy,
     check_another_theseus_tensor_is_copy,

diff --git a/...d/collision/tests/test_eff_obj_contact.py → ...mbodied/collision/test_eff_obj_contact.py b/...d/collision/tests/test_eff_obj_contact.py → ...mbodied/collision/test_eff_obj_contact.py
@@ -8,13 +8,13 @@
 import torch
 
 import theseus as th
-from theseus.core.tests.common import BATCH_SIZES_TO_TEST
-from theseus.embodied.collision.tests.utils import (
+from tests.core.common import BATCH_SIZES_TO_TEST
+from tests.embodied.collision.utils import (
     random_origin,
     random_scalar,
     random_sdf_data,
 )
-from theseus.geometry.tests.test_se2 import create_random_se2
+from tests.geometry.test_se2 import create_random_se2
 from theseus.utils import numeric_jacobian
 
 

diff --git a/...ision/tests/test_signed_distance_field.py → ...d/collision/test_signed_distance_field.py b/...ision/tests/test_signed_distance_field.py → ...d/collision/test_signed_distance_field.py
@@ -7,7 +7,7 @@
 import torch
 
 import theseus as th
-from theseus.core.tests.common import BATCH_SIZES_TO_TEST
+from tests.core.common import BATCH_SIZES_TO_TEST
 from theseus.utils import numeric_jacobian
 
 from .utils import random_sdf

diff --git a/theseus/embodied/collision/tests/utils.py → tests/embodied/collision/utils.py b/theseus/embodied/collision/tests/utils.py → tests/embodied/collision/utils.py
diff --git a/...nematics/tests/data/panda_fk_dataset.json → ...ied/kinematics/data/panda_fk_dataset.json b/...nematics/tests/data/panda_fk_dataset.json → ...ied/kinematics/data/panda_fk_dataset.json
diff --git a/...nematics/tests/data/panda_no_gripper.urdf → ...ied/kinematics/data/panda_no_gripper.urdf b/...nematics/tests/data/panda_no_gripper.urdf → ...ied/kinematics/data/panda_no_gripper.urdf
diff --git a/...nematics/tests/test_inverse_kinematics.py → ...ied/kinematics/test_inverse_kinematics.py b/...nematics/tests/test_inverse_kinematics.py → ...ied/kinematics/test_inverse_kinematics.py
diff --git a/...odied/kinematics/tests/test_urdf_model.py → tests/embodied/kinematics/test_urdf_model.py b/...odied/kinematics/tests/test_urdf_model.py → tests/embodied/kinematics/test_urdf_model.py
diff --git a/...bodied/measurements/tests/test_between.py → tests/embodied/measurements/test_between.py b/...bodied/measurements/tests/test_between.py → tests/embodied/measurements/test_between.py
@@ -7,7 +7,7 @@
 import torch
 
 import theseus as th
-from theseus.core.tests.common import (
+from tests.core.common import (
     BATCH_SIZES_TO_TEST,
     check_another_theseus_function_is_copy,
     check_another_theseus_tensor_is_copy,

diff --git a/...ements/tests/test_moving_frame_between.py → ...measurements/test_moving_frame_between.py b/...ements/tests/test_moving_frame_between.py → ...measurements/test_moving_frame_between.py
@@ -9,12 +9,12 @@
 import theseus.core as thcore
 import theseus.embodied as thembod
 import theseus.geometry as thgeom
-from theseus.core.tests.common import (
+from tests.core.common import (
     BATCH_SIZES_TO_TEST,
     check_another_theseus_function_is_copy,
     check_another_theseus_tensor_is_copy,
 )
-from theseus.geometry.tests.test_se2 import create_random_se2
+from tests.geometry.test_se2 import create_random_se2
 from theseus.utils import numeric_jacobian
 
 

diff --git a/...d/measurements/tests/test_reprojection.py → ...mbodied/measurements/test_reprojection.py b/...d/measurements/tests/test_reprojection.py → ...mbodied/measurements/test_reprojection.py
diff --git a/...ed/misc/tests/test_variable_difference.py → ...embodied/misc/test_variable_difference.py b/...ed/misc/tests/test_variable_difference.py → ...embodied/misc/test_variable_difference.py
@@ -7,7 +7,7 @@
 import torch
 
 import theseus as th
-from theseus.core.tests.common import (
+from tests.core.common import (
     BATCH_SIZES_TO_TEST,
     check_another_theseus_function_is_copy,
     check_another_theseus_tensor_is_copy,

diff --git a/...tionmodel/tests/test_double_integrator.py → ...ied/motionmodel/test_double_integrator.py b/...tionmodel/tests/test_double_integrator.py → ...ied/motionmodel/test_double_integrator.py
@@ -11,7 +11,7 @@
 
 import theseus as th
 from theseus.core import Variable
-from theseus.core.tests.common import (
+from tests.core.common import (
     BATCH_SIZES_TO_TEST,
     check_another_theseus_function_is_copy,
 )

diff --git a/...tests/test_quasi_static_pushing_planar.py → ...model/test_quasi_static_pushing_planar.py b/...tests/test_quasi_static_pushing_planar.py → ...model/test_quasi_static_pushing_planar.py
@@ -7,8 +7,8 @@
 import torch
 
 import theseus as th
-from theseus.core.tests.common import BATCH_SIZES_TO_TEST
-from theseus.geometry.tests.test_se2 import create_random_se2
+from tests.core.common import BATCH_SIZES_TO_TEST
+from tests.geometry.test_se2 import create_random_se2
 from theseus.utils import numeric_jacobian
 
 

diff --git a/theseus/extlib/tests/__init__.py → tests/extlib/__init__.py b/theseus/extlib/tests/__init__.py → tests/extlib/__init__.py
diff --git a/theseus/extlib/tests/common.py → tests/extlib/common.py b/theseus/extlib/tests/common.py → tests/extlib/common.py
diff --git a/theseus/extlib/tests/test_baspacho.py → tests/extlib/test_baspacho.py b/theseus/extlib/tests/test_baspacho.py → tests/extlib/test_baspacho.py
@@ -9,7 +9,7 @@
 from scipy.sparse import csr_matrix, tril
 
 
-from theseus.extlib.tests.common import run_if_baspacho
+from tests.extlib.common import run_if_baspacho
 from theseus.utils import random_sparse_binary_matrix, split_into_param_sizes
 
 

diff --git a/theseus/extlib/tests/test_baspacho_simple.py → tests/extlib/test_baspacho_simple.py b/theseus/extlib/tests/test_baspacho_simple.py → tests/extlib/test_baspacho_simple.py
@@ -8,7 +8,7 @@
 import numpy as np
 import pytest  # noqa: F401
 
-from theseus.extlib.tests.common import run_if_baspacho
+from tests.extlib.common import run_if_baspacho
 
 
 # fmt: off

diff --git a/...s/extlib/tests/test_cusolver_lu_solver.py → tests/extlib/test_cusolver_lu_solver.py b/...s/extlib/tests/test_cusolver_lu_solver.py → tests/extlib/test_cusolver_lu_solver.py
diff --git a/theseus/extlib/tests/test_mat_mult.py → tests/extlib/test_mat_mult.py b/theseus/extlib/tests/test_mat_mult.py → tests/extlib/test_mat_mult.py
diff --git a/theseus/geometry/tests/__init__.py → tests/geometry/__init__.py b/theseus/geometry/tests/__init__.py → tests/geometry/__init__.py
diff --git a/theseus/geometry/tests/common.py → tests/geometry/common.py b/theseus/geometry/tests/common.py → tests/geometry/common.py
@@ -7,7 +7,7 @@
 
 from theseus.constants import TEST_EPS
 from theseus.core.cost_function import AutoDiffCostFunction, AutogradMode
-from theseus.core.tests.common import BATCH_SIZES_TO_TEST  # noqa: F401
+from tests.core.common import BATCH_SIZES_TO_TEST  # noqa: F401
 from theseus.geometry.lie_group_check import set_lie_group_check_enabled
 from theseus.geometry.vector import Vector
 from theseus.utils import numeric_jacobian

diff --git a/.../geometry/tests/point_types_mypy_check.py → tests/geometry/point_types_mypy_check.py b/.../geometry/tests/point_types_mypy_check.py → tests/geometry/point_types_mypy_check.py
diff --git a/theseus/geometry/tests/test_point_types.py → tests/geometry/test_point_types.py b/theseus/geometry/tests/test_point_types.py → tests/geometry/test_point_types.py
@@ -63,7 +63,7 @@ def test_operations_mypy_cast():
         import mypy.api
     except ModuleNotFoundError:
         return
-    result = mypy.api.run(["theseus/geometry/tests/point_types_mypy_check.py"])
+    result = mypy.api.run(["tests/geometry/point_types_mypy_check.py"])
     assert result[2] == 0
 
 

diff --git a/theseus/geometry/tests/test_se2.py → tests/geometry/test_se2.py b/theseus/geometry/tests/test_se2.py → tests/geometry/test_se2.py
@@ -9,7 +9,7 @@
 
 import theseus as th
 from theseus.constants import TEST_EPS
-from theseus.core.tests.common import check_copy_var
+from tests.core.common import check_copy_var
 from theseus.utils import numeric_jacobian
 
 from .common import (

diff --git a/theseus/geometry/tests/test_se3.py → tests/geometry/test_se3.py b/theseus/geometry/tests/test_se3.py → tests/geometry/test_se3.py
diff --git a/theseus/geometry/tests/test_so2.py → tests/geometry/test_so2.py b/theseus/geometry/tests/test_so2.py → tests/geometry/test_so2.py
@@ -9,7 +9,7 @@
 
 import theseus as th
 from theseus.constants import EPS
-from theseus.core.tests.common import check_copy_var
+from tests.core.common import check_copy_var
 from theseus.utils import numeric_jacobian
 
 from .common import (

diff --git a/theseus/geometry/tests/test_so3.py → tests/geometry/test_so3.py b/theseus/geometry/tests/test_so3.py → tests/geometry/test_so3.py
diff --git a/theseus/geometry/tests/test_vector.py → tests/geometry/test_vector.py b/theseus/geometry/tests/test_vector.py → tests/geometry/test_vector.py
@@ -9,7 +9,7 @@
 
 import theseus as th
 from theseus.constants import EPS
-from theseus.core.tests.common import check_copy_var
+from tests.core.common import check_copy_var
 
 from .common import (
     BATCH_SIZES_TO_TEST,

diff --git a/theseus/optimizer/autograd/tests/__init__.py → tests/optimizer/autograd/__init__.py b/theseus/optimizer/autograd/tests/__init__.py → tests/optimizer/autograd/__init__.py
diff --git a/...izer/autograd/tests/bad_sparse_matrix.pth → .../optimizer/autograd/bad_sparse_matrix.pth b/...izer/autograd/tests/bad_sparse_matrix.pth → .../optimizer/autograd/bad_sparse_matrix.pth
diff --git a/...ad/tests/test_baspacho_sparse_backward.py → ...autograd/test_baspacho_sparse_backward.py b/...ad/tests/test_baspacho_sparse_backward.py → ...autograd/test_baspacho_sparse_backward.py
@@ -9,7 +9,7 @@
 from torch.autograd import gradcheck
 from theseus.optimizer.autograd import BaspachoSolveFunction
 
-from theseus.extlib.tests.common import run_if_baspacho
+from tests.extlib.common import run_if_baspacho
 from theseus.utils import random_sparse_binary_matrix, split_into_param_sizes
 
 import theseus as th

diff --git a/...rad/tests/test_lu_cuda_sparse_backward.py → .../autograd/test_lu_cuda_sparse_backward.py b/...rad/tests/test_lu_cuda_sparse_backward.py → .../autograd/test_lu_cuda_sparse_backward.py
diff --git a/...er/autograd/tests/test_sparse_backward.py → ...ptimizer/autograd/test_sparse_backward.py b/...er/autograd/tests/test_sparse_backward.py → ...ptimizer/autograd/test_sparse_backward.py
@@ -62,7 +62,7 @@ def test_sparse_backward_step():
 
 
 def test_float64_used():
-    data = torch.load("theseus/optimizer/autograd/tests/bad_sparse_matrix.pth")
+    data = torch.load("tests/optimizer/autograd/bad_sparse_matrix.pth")
     decomp = analyze_AAt(data["struct"].mock_csc_transpose())
     delta = CholmodSolveFunction.apply(
         data["a"],

diff --git a/...near/tests/test_baspacho_sparse_solver.py → ...zer/linear/test_baspacho_sparse_solver.py b/...near/tests/test_baspacho_sparse_solver.py → ...zer/linear/test_baspacho_sparse_solver.py
@@ -6,8 +6,8 @@
 import pytest  # noqa: F401
 import torch
 
-from theseus.extlib.tests.common import run_if_baspacho
-from theseus.optimizer.autograd.tests.test_baspacho_sparse_backward import (
+from tests.extlib.common import run_if_baspacho
+from tests.optimizer.autograd.test_baspacho_sparse_backward import (
     get_linearization_and_solver_for_random_sparse,
 )
 

diff --git a/...inear/tests/test_cholmod_sparse_solver.py → ...izer/linear/test_cholmod_sparse_solver.py b/...inear/tests/test_cholmod_sparse_solver.py → ...izer/linear/test_cholmod_sparse_solver.py
diff --git a/...timizer/linear/tests/test_dense_solver.py → tests/optimizer/linear/test_dense_solver.py b/...timizer/linear/tests/test_dense_solver.py → tests/optimizer/linear/test_dense_solver.py
diff --git a/...inear/tests/test_lu_cuda_sparse_solver.py → ...izer/linear/test_lu_cuda_sparse_solver.py b/...inear/tests/test_lu_cuda_sparse_solver.py → ...izer/linear/test_lu_cuda_sparse_solver.py
diff --git a/...timizer/tests/linearization_test_utils.py → tests/optimizer/linearization_test_utils.py b/...timizer/tests/linearization_test_utils.py → tests/optimizer/linearization_test_utils.py
diff --git a/...eus/optimizer/nonlinear/tests/__init__.py → tests/optimizer/nonlinear/__init__.py b/...eus/optimizer/nonlinear/tests/__init__.py → tests/optimizer/nonlinear/__init__.py
diff --git a/theseus/optimizer/nonlinear/tests/common.py → tests/optimizer/nonlinear/common.py b/theseus/optimizer/nonlinear/tests/common.py → tests/optimizer/nonlinear/common.py
diff --git a/...timizer/nonlinear/tests/test_backwards.py → tests/optimizer/nonlinear/test_backwards.py b/...timizer/nonlinear/tests/test_backwards.py → tests/optimizer/nonlinear/test_backwards.py
diff --git a/...izer/nonlinear/tests/test_gauss_newton.py → .../optimizer/nonlinear/test_gauss_newton.py b/...izer/nonlinear/tests/test_gauss_newton.py → .../optimizer/nonlinear/test_gauss_newton.py
diff --git a/...nlinear/tests/test_levenberg_marquardt.py → ...zer/nonlinear/test_levenberg_marquardt.py b/...nlinear/tests/test_levenberg_marquardt.py → ...zer/nonlinear/test_levenberg_marquardt.py
@@ -8,7 +8,7 @@
 
 import theseus as th
 
-from theseus.optimizer.nonlinear.tests.common import run_nonlinear_least_squares_check
+from tests.optimizer.nonlinear.common import run_nonlinear_least_squares_check
 
 
 @pytest.fixture

diff --git a/...zer/nonlinear/tests/test_state_history.py → ...optimizer/nonlinear/test_state_history.py b/...zer/nonlinear/tests/test_state_history.py → ...optimizer/nonlinear/test_state_history.py
diff --git a/...timizer/tests/test_dense_linearization.py → tests/optimizer/test_dense_linearization.py b/...timizer/tests/test_dense_linearization.py → tests/optimizer/test_dense_linearization.py
@@ -7,7 +7,7 @@
 import torch  # noqa: F401
 
 import theseus as th
-from theseus.optimizer.tests.linearization_test_utils import (
+from tests.optimizer.linearization_test_utils import (
     build_test_objective_and_linear_system,
 )
 

diff --git a/...optimizer/tests/test_manifold_gaussian.py → tests/optimizer/test_manifold_gaussian.py b/...optimizer/tests/test_manifold_gaussian.py → tests/optimizer/test_manifold_gaussian.py
diff --git a/...imizer/tests/test_sparse_linearization.py → tests/optimizer/test_sparse_linearization.py b/...imizer/tests/test_sparse_linearization.py → tests/optimizer/test_sparse_linearization.py
@@ -7,7 +7,7 @@
 import torch  # noqa: F401
 
 import theseus as th
-from theseus.optimizer.tests.linearization_test_utils import (
+from tests.optimizer.linearization_test_utils import (
     build_test_objective_and_linear_system,
 )
 

diff --git a/...optimizer/tests/test_variable_ordering.py → tests/optimizer/test_variable_ordering.py b/...optimizer/tests/test_variable_ordering.py → tests/optimizer/test_variable_ordering.py
@@ -10,7 +10,7 @@
 import torch
 
 import theseus as th
-from theseus.core.tests.common import MockCostFunction, MockCostWeight, MockVar
+from tests.core.common import MockCostFunction, MockCostWeight, MockVar
 
 
 def test_default_variable_ordering():

diff --git a/theseus/tests/test_dlm_perturbation.py → tests/tests/test_dlm_perturbation.py b/theseus/tests/test_dlm_perturbation.py → tests/tests/test_dlm_perturbation.py
@@ -7,7 +7,7 @@
 import torch
 
 import theseus as th
-from theseus.core.tests.common import BATCH_SIZES_TO_TEST
+from tests.core.common import BATCH_SIZES_TO_TEST
 from theseus.theseus_layer import _DLMPerturbation
 from theseus.utils import numeric_jacobian
 

diff --git a/theseus/tests/test_theseus_layer.py → tests/tests/test_theseus_layer.py b/theseus/tests/test_theseus_layer.py → tests/tests/test_theseus_layer.py
@@ -13,7 +13,7 @@
 
 import theseus as th
 import theseus.utils as thutils
-from theseus.core.tests.common import (
+from tests.core.common import (
     MockCostFunction,
     MockCostWeight,
     MockVar,

diff --git a/theseus/utils/tests/test_utils.py → tests/utils/test_utils.py b/theseus/utils/tests/test_utils.py → tests/utils/test_utils.py