feat: Add comprehensive testing infrastructure with Poetry

[llbbl]

Add Comprehensive Testing Infrastructure

Summary

This PR sets up a complete testing infrastructure for the project using Poetry as the package manager and pytest as the testing framework. The setup provides a ready-to-use environment for developers to immediately start writing tests.

Changes Made

Package Management

• Poetry Setup: Created pyproject.toml with Poetry configuration
• Dependency Migration: Migrated all dependencies from requirements.txt to Poetry
• Flexible Versioning: Used caret (^) version constraints for better compatibility
• Development Dependencies: Added pytest, pytest-cov, pytest-mock, and supporting tools

Testing Configuration

• pytest Configuration: Comprehensive pytest settings in pyproject.toml including:
  • Coverage threshold set to 80%
  • Multiple coverage report formats (HTML, XML, terminal)
  • Custom markers for unit, integration, and slow tests
  • Strict mode enabled for better test quality
  • Test discovery patterns configured

Directory Structure

tests/
├── __init__.py
├── conftest.py              # Shared fixtures and configuration
├── test_infrastructure_validation.py  # Validation tests
├── unit/                    # Unit tests directory
│   └── __init__.py
└── integration/             # Integration tests directory
    └── __init__.py

Shared Fixtures (conftest.py)

Created comprehensive fixtures for common testing needs:

• File handling: temp_dir, sample_yaml_config, sample_json_config, sample_h5_data
• Data fixtures: sample_numpy_array, sample_torch_tensor, sample_config
• Mock objects: mock_model, mock_dataset, mock_dynamixel_driver, mock_websocket
• Environment: env_vars for temporary environment variable management
• Project-specific: mock_robot_state, sample_episode_data, mock_camera_image
• Utilities: Automatic random seed reset, wandb mocking

Additional Setup

• Updated .gitignore: Added entries for testing artifacts, Poetry files, and development tools
• Validation Tests: Created comprehensive tests to verify the infrastructure works correctly
• Poetry Scripts: Configured both poetry run test and poetry run tests commands

Usage Instructions

Running Tests

# Using Poetry (after installation)
poetry run test
poetry run tests

# Running specific test types
poetry run pytest -m unit        # Run only unit tests
poetry run pytest -m integration # Run only integration tests
poetry run pytest --runslow      # Include slow tests

# Using pytest directly
pytest
pytest -v                        # Verbose output
pytest --cov                     # With coverage report
pytest tests/unit/               # Run only unit tests directory

Writing Tests

1. Place unit tests in tests/unit/
2. Place integration tests in tests/integration/
3. Use fixtures from conftest.py for common test needs
4. Mark tests appropriately:

   @pytest.mark.unit
   def test_example():
       pass
   
   @pytest.mark.integration
   def test_integration():
       pass
   
   @pytest.mark.slow
   def test_slow_operation():
       pass

Coverage Reports

• HTML report: htmlcov/index.html
• XML report: coverage.xml
• Terminal report: Shown after test run

Notes

• The dex-retargeting package was commented out due to Python version constraints (requires Python <3.11)
• Poetry installation might take time due to large dependencies (torch, torchvision)
• All test infrastructure has been validated with passing tests

Next Steps

Developers can now:

1. Install dependencies with poetry install
2. Start writing unit and integration tests
3. Use the provided fixtures for faster test development
4. Monitor coverage to maintain the 80% threshold