Organize test folders (#856)

Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>

Author: aliberts

.dockerignore

@@ -73,7 +73,7 @@ pip-log.txt
 pip-delete-this-directory.txt
 
 # Unit test / coverage reports
-!tests/data
+!tests/artifacts
 htmlcov/
 .tox/
 .nox/

.gitignore

@@ -78,7 +78,7 @@ pip-log.txt
 pip-delete-this-directory.txt
 
 # Unit test / coverage reports
-!tests/data
+!tests/artifacts
 htmlcov/
 .tox/
 .nox/

.pre-commit-config.yaml

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-exclude: ^(tests/data)
+exclude: "tests/artifacts/.*\\.safetensors$"
 default_language_version:
     python: python3.10
 repos:

CONTRIBUTING.md

@@ -48,7 +48,7 @@ def find_cameras(raise_when_empty=True, mock=False) -> list[dict]:
     connected to the computer.
     """
     if mock:
-        import tests.mock_pyrealsense2 as rs
+        import tests.cameras.mock_pyrealsense2 as rs
     else:
         import pyrealsense2 as rs
 
@@ -100,7 +100,7 @@ def save_images_from_cameras(
         serial_numbers = [cam["serial_number"] for cam in camera_infos]
 
     if mock:
-        import tests.mock_cv2 as cv2
+        import tests.cameras.mock_cv2 as cv2
     else:
         import cv2
 
@@ -253,7 +253,7 @@ def __init__(
         self.logs = {}
 
         if self.mock:
-            import tests.mock_cv2 as cv2
+            import tests.cameras.mock_cv2 as cv2
         else:
             import cv2
 
@@ -287,7 +287,7 @@ def connect(self):
             )
 
         if self.mock:
-            import tests.mock_pyrealsense2 as rs
+            import tests.cameras.mock_pyrealsense2 as rs
         else:
             import pyrealsense2 as rs
 
@@ -375,7 +375,7 @@ def read(self, temporary_color: str | None = None) -> np.ndarray | tuple[np.ndar
             )
 
         if self.mock:
-            import tests.mock_cv2 as cv2
+            import tests.cameras.mock_cv2 as cv2
         else:
             import cv2
 

lerobot/common/robot_devices/cameras/intelrealsense.py

@@ -80,7 +80,7 @@ def _find_cameras(
     possible_camera_ids: list[int | str], raise_when_empty=False, mock=False
 ) -> list[int | str]:
     if mock:
-        import tests.mock_cv2 as cv2
+        import tests.cameras.mock_cv2 as cv2
     else:
         import cv2
 
@@ -269,7 +269,7 @@ def __init__(self, config: OpenCVCameraConfig):
         self.logs = {}
 
         if self.mock:
-            import tests.mock_cv2 as cv2
+            import tests.cameras.mock_cv2 as cv2
         else:
             import cv2
 
@@ -286,7 +286,7 @@ def connect(self):
             raise RobotDeviceAlreadyConnectedError(f"OpenCVCamera({self.camera_index}) is already connected.")
 
         if self.mock:
-            import tests.mock_cv2 as cv2
+            import tests.cameras.mock_cv2 as cv2
         else:
             import cv2
 
@@ -398,7 +398,7 @@ def read(self, temporary_color_mode: str | None = None) -> np.ndarray:
         # so we convert the image color from BGR to RGB.
         if requested_color_mode == "rgb":
             if self.mock:
-                import tests.mock_cv2 as cv2
+                import tests.cameras.mock_cv2 as cv2
             else:
                 import cv2
 

lerobot/common/robot_devices/cameras/opencv.py

@@ -332,7 +332,7 @@ def connect(self):
             )
 
         if self.mock:
-            import tests.mock_dynamixel_sdk as dxl
+            import tests.motors.mock_dynamixel_sdk as dxl
         else:
             import dynamixel_sdk as dxl
 
@@ -356,7 +356,7 @@ def connect(self):
 
     def reconnect(self):
         if self.mock:
-            import tests.mock_dynamixel_sdk as dxl
+            import tests.motors.mock_dynamixel_sdk as dxl
         else:
             import dynamixel_sdk as dxl
 
@@ -646,7 +646,7 @@ def revert_calibration(self, values: np.ndarray | list, motor_names: list[str] |
 
     def read_with_motor_ids(self, motor_models, motor_ids, data_name, num_retry=NUM_READ_RETRY):
         if self.mock:
-            import tests.mock_dynamixel_sdk as dxl
+            import tests.motors.mock_dynamixel_sdk as dxl
         else:
             import dynamixel_sdk as dxl
 
@@ -691,7 +691,7 @@ def read(self, data_name, motor_names: str | list[str] | None = None):
         start_time = time.perf_counter()
 
         if self.mock:
-            import tests.mock_dynamixel_sdk as dxl
+            import tests.motors.mock_dynamixel_sdk as dxl
         else:
             import dynamixel_sdk as dxl
 
@@ -757,7 +757,7 @@ def read(self, data_name, motor_names: str | list[str] | None = None):
 
     def write_with_motor_ids(self, motor_models, motor_ids, data_name, values, num_retry=NUM_WRITE_RETRY):
         if self.mock:
-            import tests.mock_dynamixel_sdk as dxl
+            import tests.motors.mock_dynamixel_sdk as dxl
         else:
             import dynamixel_sdk as dxl
 
@@ -793,7 +793,7 @@ def write(self, data_name, values: int | float | np.ndarray, motor_names: str |
         start_time = time.perf_counter()
 
         if self.mock:
-            import tests.mock_dynamixel_sdk as dxl
+            import tests.motors.mock_dynamixel_sdk as dxl
         else:
             import dynamixel_sdk as dxl
 

lerobot/common/robot_devices/motors/dynamixel.py

@@ -313,7 +313,7 @@ def connect(self):
             )
 
         if self.mock:
-            import tests.mock_scservo_sdk as scs
+            import tests.motors.mock_scservo_sdk as scs
         else:
             import scservo_sdk as scs
 
@@ -337,7 +337,7 @@ def connect(self):
 
     def reconnect(self):
         if self.mock:
-            import tests.mock_scservo_sdk as scs
+            import tests.motors.mock_scservo_sdk as scs
         else:
             import scservo_sdk as scs
 
@@ -664,7 +664,7 @@ def avoid_rotation_reset(self, values, motor_names, data_name):
 
     def read_with_motor_ids(self, motor_models, motor_ids, data_name, num_retry=NUM_READ_RETRY):
         if self.mock:
-            import tests.mock_scservo_sdk as scs
+            import tests.motors.mock_scservo_sdk as scs
         else:
             import scservo_sdk as scs
 
@@ -702,7 +702,7 @@ def read_with_motor_ids(self, motor_models, motor_ids, data_name, num_retry=NUM_
 
     def read(self, data_name, motor_names: str | list[str] | None = None):
         if self.mock:
-            import tests.mock_scservo_sdk as scs
+            import tests.motors.mock_scservo_sdk as scs
         else:
             import scservo_sdk as scs
 
@@ -782,7 +782,7 @@ def read(self, data_name, motor_names: str | list[str] | None = None):
 
     def write_with_motor_ids(self, motor_models, motor_ids, data_name, values, num_retry=NUM_WRITE_RETRY):
         if self.mock:
-            import tests.mock_scservo_sdk as scs
+            import tests.motors.mock_scservo_sdk as scs
         else:
             import scservo_sdk as scs
 
@@ -818,7 +818,7 @@ def write(self, data_name, values: int | float | np.ndarray, motor_names: str |
         start_time = time.perf_counter()
 
         if self.mock:
-            import tests.mock_scservo_sdk as scs
+            import tests.motors.mock_scservo_sdk as scs
         else:
             import scservo_sdk as scs
 

lerobot/common/robot_devices/motors/feetech.py

@@ -102,30 +102,7 @@ requires-poetry = ">=2.1"
 [tool.ruff]
 line-length = 110
 target-version = "py310"
-exclude = [
-    "tests/data",
-    ".bzr",
-    ".direnv",
-    ".eggs",
-    ".git",
-    ".git-rewrite",
-    ".hg",
-    ".mypy_cache",
-    ".nox",
-    ".pants.d",
-    ".pytype",
-    ".ruff_cache",
-    ".svn",
-    ".tox",
-    ".venv",
-    "__pypackages__",
-    "_build",
-    "buck-out",
-    "build",
-    "dist",
-    "node_modules",
-    "venv",
-]
+exclude = ["tests/artifacts/**/*.safetensors"]
 
 [tool.ruff.lint]
 select = ["E4", "E7", "E9", "F", "I", "N", "B", "C4", "SIM"]

pyproject.toml

@@ -23,7 +23,7 @@
 doesnt need to be merged into the `main` branch. Then you need to run this script and update the tests artifacts.
 
 Example usage:
-    `python tests/scripts/save_dataset_to_safetensors.py`
+    `python tests/artifacts/datasets/save_dataset_to_safetensors.py`
 """
 
 import shutil
@@ -88,4 +88,4 @@ def save_dataset_to_safetensors(output_dir, repo_id="lerobot/pusht"):
         "lerobot/nyu_franka_play_dataset",
         "lerobot/cmu_stretch",
     ]:
-        save_dataset_to_safetensors("tests/data/save_dataset_to_safetensors", repo_id=dataset)
+        save_dataset_to_safetensors("tests/artifacts/datasets", repo_id=dataset)

tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_0.safetensors tests/artifacts/datasets/lerobot/aloha_sim_insertion_human/frame_0.safetensors

@@ -27,7 +27,7 @@
 )
 from lerobot.common.utils.random_utils import seeded_context
 
-ARTIFACT_DIR = Path("tests/data/save_image_transforms_to_safetensors")
+ARTIFACT_DIR = Path("tests/artifacts/image_transforms")
 DATASET_REPO_ID = "lerobot/aloha_mobile_shrimp"
 
 

tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_1.safetensors tests/artifacts/datasets/lerobot/aloha_sim_insertion_human/frame_1.safetensors

@@ -141,5 +141,5 @@ def save_policy_to_safetensors(output_dir: Path, ds_repo_id: str, policy_name: s
         raise RuntimeError("No policies were provided!")
     for ds_repo_id, policy, policy_kwargs, file_name_extra in artifacts_cfg:
         ds_name = ds_repo_id.split("/")[-1]
-        output_dir = Path("tests/data/save_policy_to_safetensors") / f"{ds_name}_{policy}_{file_name_extra}"
+        output_dir = Path("tests/artifacts/policies") / f"{ds_name}_{policy}_{file_name_extra}"
         save_policy_to_safetensors(output_dir, ds_repo_id, policy, policy_kwargs)

tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_250.safetensors tests/artifacts/datasets/lerobot/aloha_sim_insertion_human/frame_250.safetensors

@@ -146,7 +146,7 @@ def test_camera(request, camera_type, mock):
         camera.connect()
 
         if mock:
-            import tests.mock_cv2 as cv2
+            import tests.cameras.mock_cv2 as cv2
         else:
             import cv2
 

tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_251.safetensors tests/artifacts/datasets/lerobot/aloha_sim_insertion_human/frame_251.safetensors

@@ -473,12 +473,12 @@ def test_flatten_unflatten_dict():
 )
 @require_x86_64_kernel
 def test_backward_compatibility(repo_id):
-    """The artifacts for this test have been generated by `tests/scripts/save_dataset_to_safetensors.py`."""
+    """The artifacts for this test have been generated by `tests/artifacts/datasets/save_dataset_to_safetensors.py`."""
 
     # TODO(rcadene, aliberts): remove dataset download
     dataset = LeRobotDataset(repo_id, episodes=[0])
 
-    test_dir = Path("tests/data/save_dataset_to_safetensors") / repo_id
+    test_dir = Path("tests/artifacts/datasets") / repo_id
 
     def load_and_compare(i):
         new_frame = dataset[i]  # noqa: B023

tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_498.safetensors tests/artifacts/datasets/lerobot/aloha_sim_insertion_human/frame_498.safetensors

@@ -33,7 +33,7 @@
     save_all_transforms,
     save_each_transform,
 )
-from tests.scripts.save_image_transforms_to_safetensors import ARTIFACT_DIR
+from tests.artifacts.image_transforms.save_image_transforms_to_safetensors import ARTIFACT_DIR
 from tests.utils import require_x86_64_kernel
 
 

tests/data/save_dataset_to_safetensors/lerobot/aloha_sim_insertion_human/frame_499.safetensors tests/artifacts/datasets/lerobot/aloha_sim_insertion_human/frame_499.safetensors

@@ -1,3 +1,5 @@
+#!/usr/bin/env python
+
 # Copyright 2024 The HuggingFace Inc. team. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -11,13 +13,32 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+
 import torch
 from datasets import Dataset
+from huggingface_hub import DatasetCard
 
 from lerobot.common.datasets.push_dataset_to_hub.utils import calculate_episode_data_index
-from lerobot.common.datasets.utils import (
-    hf_transform_to_torch,
-)
+from lerobot.common.datasets.utils import create_lerobot_dataset_card, hf_transform_to_torch
+
+
+def test_default_parameters():
+    card = create_lerobot_dataset_card()
+    assert isinstance(card, DatasetCard)
+    assert card.data.tags == ["LeRobot"]
+    assert card.data.task_categories == ["robotics"]
+    assert card.data.configs == [
+        {
+            "config_name": "default",
+            "data_files": "data/*/*.parquet",
+        }
+    ]
+
+
+def test_with_tags():
+    tags = ["tag1", "tag2"]
+    card = create_lerobot_dataset_card(tags=tags)
+    assert card.data.tags == ["LeRobot", "tag1", "tag2"]
 
 
 def test_calculate_episode_data_index():

tests/data/save_dataset_to_safetensors/lerobot/pusht/frame_0.safetensors tests/artifacts/datasets/lerobot/pusht/frame_0.safetensors

@@ -23,8 +23,7 @@
 import lerobot
 from lerobot.common.envs.factory import make_env, make_env_config
 from lerobot.common.envs.utils import preprocess_observation
-
-from .utils import require_env
+from tests.utils import require_env
 
 OBS_TYPES = ["state", "pixels", "pixels_agent_pos"]