tests: Move all tests into their own folder

.github/workflows/build-ubuntu.yml

@@ -179,9 +179,7 @@ jobs:
           --gcov-exclude "${BUILD_DIR}/CMakeFiles/.*/CompilerId.*/.*"
           --exclude-directories "${BUILD_DIR}/CMakeFiles"
           --filter "src/"
-          --exclude "src/.*/.*_tests/.*"
-          --exclude "src/.*/tests/.*"
-          --exclude "src/.*/python_tests/.*"
+          --exclude "tests/.*"
         )
 
         gcovr "${gcovr_args[@]}" --txt --output coverage/summary.txt --print-summary | tee coverage/totals.txt
@@ -229,10 +227,10 @@ jobs:
         mkdir -p viz-tests-pkg
         # Glob all viz_*_tests executables (covers viz_core_tests today, and
         # viz_layers_tests / viz_session_tests / viz_xr_tests as they ship).
-        find "${BUILD_DIR}/src/viz" -name 'viz_*_tests' -type f -executable \
+        find "${BUILD_DIR}/tests/cpp/viz" -name 'viz_*_tests' -type f -executable \
           -exec cp -v {} viz-tests-pkg/ \;
         if ! ls viz-tests-pkg/viz_*_tests >/dev/null 2>&1; then
-          echo "No viz test binaries found under ${BUILD_DIR}/src/viz/"
+          echo "No viz test binaries found under ${BUILD_DIR}/tests/cpp/viz/"
           exit 1
         fi
         tar -cvzf viz-tests.tar.gz -C viz-tests-pkg .
@@ -499,7 +497,7 @@ jobs:
                  --with pytest \
                  --with numpy \
                  --with cupy-cuda12x \
-                 pytest -v --tb=short src/viz/python_tests/
+                 pytest -v --tb=short tests/python/viz/
         }
         if ! run_pytest; then
           echo "::warning::viz_python GPU tests failed on first attempt; retrying after 5s"

CMakeLists.txt

@@ -166,7 +166,6 @@ if(BUILD_EXAMPLES)
     add_subdirectory(examples/deviceio_live_view)
     add_subdirectory(examples/haptic_feedback)
     if(BUILD_VIZ)
-        add_subdirectory(examples/camera_viz/tests)
         add_subdirectory(examples/mujoco_xr)
     endif()
 elseif(BUILD_EXAMPLE_TELEOP_ROS2)
@@ -200,6 +199,11 @@ if(BUILD_PLUGINS)
     endif()
 endif()
 
+# Tests (pytest + Catch2/CTest). After production libs so link targets exist.
+if(BUILD_TESTING)
+    add_subdirectory(tests)
+endif()
+
 # Formatting enforcement (runs on Linux by default)
 include(cmake/ClangFormat.cmake)
 

cmake/cmake-structure.md

@@ -90,8 +90,10 @@ CMakeLists.txt            ← top level: adds deps/ and src/ subdirectories
       x.cpp               ← private implementation
       x.h                 ← private header
       z.cpp               ← (see include-ordering example above)
-    mod1_tests/ ...       ← test executable; links mod1::mod1 + deps (e.g. gtest)
-    mod2/ ...             ← another module (one CMake target per dir)
+    mod1/ ...             ← another module (one CMake target per dir)
+  tests/                  ← pytest + Catch2/CTest (see tests/AGENTS.md)
+    cpp/ ...              ← Catch2 executables; links src/ libs + deps
+    python/ ...           ← pytest suites; one pyproject.toml per leaf
 ```
 
 ## This repo's concrete conventions

docs/source/device/haptic_feedback.rst

@@ -95,5 +95,5 @@ See also
 --------
 
 - Example + tests: ``examples/haptic_feedback/python/`` and
-  ``src/core/retargeting_engine_tests/python/test_haptic_devices.py`` /
+  ``tests/python/core/retargeting_engine/test_haptic_devices.py`` /
   ``test_haptic_sink.py``.

docs/source/device/trackers.rst

@@ -133,8 +133,8 @@ Tracks the HMD head pose via the OpenXR view space.
 - Record channels: ``head`` | MCAP schema: ``core.HeadPoseRecord``
 - Tests:
 
-  - :code-file:`src/core/schema_tests/cpp/test_head.cpp`
-  - :code-file:`src/core/schema_tests/python/test_head.py`
+  - :code-file:`tests/cpp/core/schema/test_head.cpp`
+  - :code-file:`tests/python/core/schema/test_head.py`
 
 - Examples:
 
@@ -153,8 +153,8 @@ Tracks articulated hand joints (26 joints per hand, following the OpenXR
 - Record channels: ``left_hand``, ``right_hand`` | MCAP schema: ``core.HandPoseRecord``
 - Tests:
 
-  - :code-file:`src/core/schema_tests/cpp/test_hand.cpp`
-  - :code-file:`src/core/schema_tests/python/test_hand.py`
+  - :code-file:`tests/cpp/core/schema/test_hand.cpp`
+  - :code-file:`tests/python/core/schema/test_hand.py`
   - :code-file:`examples/oxr/python/test_synthetic_hands.py`
 
 - Examples:
@@ -175,8 +175,8 @@ axis inputs. Uses standard OpenXR action bindings.
 - Record channels: ``left_controller``, ``right_controller`` | MCAP schema: ``core.ControllerSnapshotRecord``
 - Tests:
 
-  - :code-file:`src/core/schema_tests/cpp/test_controller.cpp`
-  - :code-file:`src/core/schema_tests/python/test_controller.py`
+  - :code-file:`tests/cpp/core/schema/test_controller.cpp`
+  - :code-file:`tests/python/core/schema/test_controller.py`
   - :code-file:`examples/oxr/python/test_controller_tracker.py`
 
 - Examples:
@@ -201,8 +201,8 @@ reads the PICO ``XR_BD_body_tracking`` extension directly.
 - Record channels: ``full_body`` | MCAP schema: ``core.FullBodyPoseRecord``
 - Tests:
 
-  - :code-file:`src/core/schema_tests/cpp/test_full_body.cpp`
-  - :code-file:`src/core/schema_tests/python/test_full_body.py`
+  - :code-file:`tests/cpp/core/schema/test_full_body.cpp`
+  - :code-file:`tests/python/core/schema/test_full_body.py`
   - :code-file:`examples/oxr/python/test_full_body_tracker.py`
 
 - Examples:
@@ -234,8 +234,8 @@ utility internally.
 - Record channels: ``oak``, ``oak_tracked`` | MCAP schema: ``core.FrameMetadataOakRecord``
 - Tests:
 
-  - :code-file:`src/core/schema_tests/cpp/test_oak.cpp`
-  - :code-file:`src/core/schema_tests/python/test_camera.py`
+  - :code-file:`tests/cpp/core/schema/test_oak.cpp`
+  - :code-file:`tests/python/core/schema/test_camera.py`
   - :code-file:`examples/oxr/python/test_oak_camera.py`
 
 - Examples:
@@ -255,8 +255,8 @@ utility internally.
 - Record channels: ``pedals`` | MCAP schema: ``core.Generic3AxisPedalOutputRecord``
 - Tests:
 
-  - :code-file:`src/core/schema_tests/cpp/test_pedals.cpp`
-  - :code-file:`src/core/schema_tests/python/test_pedals.py`
+  - :code-file:`tests/cpp/core/schema/test_pedals.cpp`
+  - :code-file:`tests/python/core/schema/test_pedals.py`
 
 - Examples:
 

examples/mujoco_xr/CMakeLists.txt

@@ -69,21 +69,32 @@ endif()
 # ImportError on the headset. MATCHALL because pyproject.toml carries the pin
 # twice and those must agree -- and because it would match a version written in
 # prose too, which is why those comments never restate the number.
-set(_mujoco_pin_files "pyproject.toml" "tests/pyproject.toml")
+set(_mujoco_pin_paths "${CMAKE_CURRENT_SOURCE_DIR}/pyproject.toml")
+# The ctest pin lives in the repository's tests/ tree, which the standalone
+# wheel configure cannot see -- and has no ctest to keep in sync either.
+if(NOT _mujoco_xr_standalone)
+    list(APPEND _mujoco_pin_paths
+        "${CMAKE_SOURCE_DIR}/tests/python/examples/mujoco_xr/pyproject.toml")
+endif()
 set(_mujoco_pins "")
 set(_mujoco_pin_labels "")
-foreach(_pin_file IN LISTS _mujoco_pin_files)
-    file(READ "${CMAKE_CURRENT_SOURCE_DIR}/${_pin_file}" _pin_file_text)
+foreach(_pin_path IN LISTS _mujoco_pin_paths)
+    if(_pin_path STREQUAL "${CMAKE_CURRENT_SOURCE_DIR}/pyproject.toml")
+        set(_pin_label "pyproject.toml")
+    else()
+        set(_pin_label "tests/python/examples/mujoco_xr/pyproject.toml")
+    endif()
+    file(READ "${_pin_path}" _pin_file_text)
     string(REGEX MATCHALL "mujoco==[0-9][0-9a-zA-Z._-]*" _pin_matches "${_pin_file_text}")
     if(NOT _pin_matches)
-        message(FATAL_ERROR "mujoco_xr: ${_pin_file} declares no `mujoco==<version>` pin; "
+        message(FATAL_ERROR "mujoco_xr: ${_pin_label} declares no `mujoco==<version>` pin; "
                             "this file reads that pin instead of hardcoding one.")
     endif()
     foreach(_pin_match IN LISTS _pin_matches)
         # MATCHALL populates no CMAKE_MATCH_<n>, so strip the fixed prefix.
         string(REPLACE "mujoco==" "" _pin_version "${_pin_match}")
         list(APPEND _mujoco_pins "${_pin_version}")
-        list(APPEND _mujoco_pin_labels "${_pin_file}")
+        list(APPEND _mujoco_pin_labels "${_pin_label}")
     endforeach()
 endforeach()
 list(GET _mujoco_pins 0 _mujoco_declared_pin)
@@ -97,7 +108,7 @@ list(LENGTH _mujoco_distinct_pins _mujoco_distinct_pin_count)
 if(NOT _mujoco_distinct_pin_count EQUAL 1)
     message(FATAL_ERROR "mujoco_xr: the mujoco pins disagree -- pyproject.toml (both "
                         "build-system.requires and project.dependencies) and "
-                        "tests/pyproject.toml must all name the SAME mujoco version "
+                        "tests/python/examples/mujoco_xr/pyproject.toml must all name the SAME mujoco version "
                         "(exactly one libmujoco may be loaded in the process). "
                         "Found: ${_mujoco_pins} in ${_mujoco_pin_labels}")
 endif()
@@ -151,7 +162,7 @@ foreach(_pin_file _pin IN ZIP_LISTS _mujoco_pin_labels _mujoco_pins)
             "${_mujoco_version}. The C++ module and the Python app must load ONE libmujoco. Either "
             "install the declared pin (uv pip install --python ${Python3_EXECUTABLE} "
             "\"mujoco==${_pin}\") or update EVERY pin -- pyproject.toml carries it twice "
-            "(build-system.requires and project.dependencies) and tests/pyproject.toml once -- "
+            "(build-system.requires and project.dependencies) and tests/python/examples/mujoco_xr/pyproject.toml once -- "
             "to ${_mujoco_version}.")
     endif()
 endforeach()
@@ -180,11 +191,5 @@ set(_mujoco_xr_root "${CMAKE_CURRENT_SOURCE_DIR}")
 
 add_subdirectory(cpp)
 
-# BUILD_TESTING is undefined standalone, so ctest entries are in-tree only --
-# which is right: they need the in-place extension and the repo's isaacteleop.
-if(BUILD_TESTING)
-    add_subdirectory(tests)
-endif()
-
 # No install() rules here, deliberately: the wheel is the only run path, and
 # standalone it is cpp/CMakeLists.txt's install(TARGETS) that fills it.

examples/teleop_ros2/python/pyproject.toml

@@ -22,4 +22,4 @@ dev = [
 
 [tool.pytest.ini_options]
 pythonpath = ["."]
-testpaths = ["tests"]
+testpaths = ["../../../tests/python/examples/teleop_ros2"]

src/core/CMakeLists.txt

@@ -43,37 +43,3 @@ add_subdirectory(cloudxr)
 if(BUILD_PYTHON_BINDINGS)
     add_subdirectory(python)
 endif()
-
-# ==============================================================================
-# Tests
-# ==============================================================================
-
-if(BUILD_TESTING)
-    # Schema tests (C++ and Python)
-    add_subdirectory(schema_tests)
-
-    # Retargeting engine tests (Python)
-    add_subdirectory(retargeting_engine_tests)
-
-    # Teleop session manager tests (Python)
-    add_subdirectory(teleop_session_manager_tests)
-
-    # CloudXR tests (Python — requires the built wheel from python/)
-    if(BUILD_PYTHON_BINDINGS)
-        add_subdirectory(cloudxr_tests)
-    endif()
-
-    # Rig launcher tests (Python)
-    if(BUILD_PYTHON_BINDINGS)
-        add_subdirectory(rig_tests)
-    endif()
-
-    # MCAP tests (C++)
-    add_subdirectory(mcap_tests/cpp)
-
-    # Replay DeviceIO session tests (C++)
-    add_subdirectory(replay_deviceio_session_tests/cpp)
-
-    # Live trackers tests (C++)
-    add_subdirectory(live_trackers_tests/cpp)
-endif()

src/plugins/oglo_tactile/CMakeLists.txt

@@ -67,16 +67,3 @@ set_target_properties(oglo_tactile_plugin PROPERTIES INSTALL_RPATH "$ORIGIN")
 
 install(TARGETS oglo_tactile_plugin RUNTIME DESTINATION plugins/oglo_tactile)
 install(FILES plugin.yaml README.md DESTINATION plugins/oglo_tactile)
-
-# ------------------------------------------------------------------------------
-# Parser unit test (dependency-free; validates the packed12 v5 wire decode
-# against the firmware's packing reference).
-# ------------------------------------------------------------------------------
-if(BUILD_TESTING)
-    add_executable(test_oglo_packet_parser
-        tests/test_oglo_packet_parser.cpp
-        oglo_packet_parser.cpp
-    )
-    target_include_directories(test_oglo_packet_parser PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
-    add_test(NAME oglo_packet_parser COMMAND test_oglo_packet_parser)
-endif()

src/python/isaacteleop/retargeters/SO101/clutch_retargeter.py

@@ -173,7 +173,7 @@ def _mat_to_quat_xyzw(matrix: np.ndarray) -> np.ndarray:
 
     Branch-on-trace conversions are not eyeball-verifiable, so this is pinned numerically against
     an independent reference over random SO(3) in
-    ``retargeting_engine_tests/python/test_so101_retargeters.py``.
+    ``tests/python/core/retargeting_engine/test_so101_retargeters.py``.
     """
     m00, m01, m02 = matrix[0, 0], matrix[0, 1], matrix[0, 2]
     m10, m11, m12 = matrix[1, 0], matrix[1, 1], matrix[1, 2]

src/viz/AGENTS.md

@@ -12,8 +12,8 @@ mandatory **`AGENTS.md` preflight** in [`../../AGENTS.md`](../../AGENTS.md)
 ## Package shape
 
 `src/viz/` mirrors **`src/core/`**: a peer container of sub-modules, not a
-single sub-module. Each sub-module is its own static library with its own
-sibling `<sub-module>_tests/` directory:
+single sub-module. Each sub-module is its own static library. Tests live under
+[`../../../tests/`](../../../tests/) — see [`tests/AGENTS.md`](../../../tests/AGENTS.md).
 
 - **`viz/core/`** — foundational types + Vulkan/CUDA infrastructure.
   Library: `viz_core`. Today: `VkContext`, `VizBuffer`, `Pose3D`,
@@ -51,7 +51,7 @@ sibling `<sub-module>_tests/` directory:
   questions are captured under "Future: zero-copy acquire/release"
   in `DESIGN.md`.
   Test-only fixture layers (`ClearRectLayer`, `ThrowingLayer`) live in
-  `viz/layers_tests/cpp/inc/viz/layers/testing/` and are exposed via
+  `tests/cpp/viz/support/layers_testing/inc/viz/layers/testing/` and are exposed via
   the `viz::layers_testing` static library — used by `viz_session_tests`
   to compose into a `VizSession`.
 - **`viz/session/`** — `VizSession`, `VizCompositor`, `FrameInfo`,
@@ -73,9 +73,9 @@ sibling `<sub-module>_tests/` directory:
   `viz/shaders/cpp/` and calling `compile_shader(<name>.vert kVarName)`
   in the local CMakeLists.
 
-Test directories follow the same per-module pattern:
-`viz/core_tests/`, `viz/layers_tests/`, `viz/session_tests/`,
-`viz/shaders_tests/`, `viz/xr_tests/`.
+Catch2 and pytest suites for viz live under `tests/cpp/viz/<sub-module>/`
+and `tests/python/viz/` respectively (one Catch2 executable per sub-module:
+`viz_core_tests`, `viz_layers_tests`, …).
 
 `src/viz/CMakeLists.txt` is an **orchestrator only** — it adds the
 sub-module sub-directories. Sub-module `CMakeLists.txt` files build the
@@ -162,17 +162,16 @@ Beyond happy-path coverage, every new feature MUST add tests for:
 ### Test fixtures
 
 Test-only `LayerBase` subclasses and helpers live in
-`viz/layers_tests/cpp/inc/viz/layers/testing/` and ship via the
+`tests/cpp/viz/support/layers_testing/inc/viz/layers/testing/` and ship via the
 `viz::layers_testing` static library. Other test executables link
 that library to compose fixtures. Today:
 - `ClearRectLayer` — paints a rect via `vkCmdClearAttachments` (no
   shaders); used to verify compositor dispatch produces real pixels.
 - `ThrowingLayer` — throws from `record()` on a configurable schedule;
   used for exception-recovery tests.
-- Test files live alongside the code they test, in
-  `<sub-module>_tests/cpp/`. One executable per sub-module
-  (`viz_core_tests`, `viz_layers_tests`, ...). Do **not** dump tests
-  into a top-level `viz_tests/` directory.
+- Catch2 sources live under `tests/cpp/viz/<sub-module>/`. One executable
+  per sub-module (`viz_core_tests`, `viz_layers_tests`, …). Do **not**
+  collapse viz tests into a single mega-target.
 
 ## CI coverage