feat: Add comprehensive testing infrastructure with Poetry

.gitignore

@@ -10,4 +10,46 @@ __MACOSX/
 *.webm
 *.jpg
 *.svo
-*.png
+*.png
+
+# Testing
+.pytest_cache/
+.coverage
+htmlcov/
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.tox/
+.nox/
+
+# Claude
+.claude/*
+
+# Poetry
+dist/
+poetry.lock
+
+# Virtual environments
+venv/
+.venv/
+ENV/
+env/
+.env
+
+# IDE
+.vscode/
+*.swp
+*.swo
+*~
+
+# Mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Jupyter Notebook
+.ipynb_checkpoints/
+
+# pyenv
+.python-version

pyproject.toml

@@ -0,0 +1,174 @@
+[tool.poetry]
+name = "humanoid-teleoperation"
+version = "0.1.0"
+description = "A Python project for humanoid robot teleoperation"
+authors = ["Your Name <your.email@example.com>"]
+readme = "README.md"
+license = "MIT"
+packages = [
+    { include = "act" },
+    { include = "teleop" },
+    { include = "scripts" }
+]
+
+[tool.poetry.dependencies]
+python = ">=3.8.1,<3.12"
+aiohttp = "^3.9.5"
+aiohttp-cors = "^0.7.0"
+aiortc = "^1.8.0"
+av = "^11.0.0"
+# dex-retargeting = "0.1.1"  # Requires Python <3.11
+dynamixel-sdk = "^3.7.31"
+einops = "^0.8.0"
+h5py = "^3.9.0"
+ipython = "^8.12.3"
+matplotlib = "^3.7.5"
+numpy = ">=1.23.0,<2.0.0"
+opencv-contrib-python = "^4.9.0.80"
+opencv-python = "^4.9.0.80"
+packaging = "^24.1"
+pandas = "^2.0.3"
+params-proto = "^2.12.1"
+pytransform3d = "^3.4.0"
+PyYAML = "^6.0.1"
+scikit-learn = "^1.3.2"
+scipy = "^1.10.1"
+seaborn = "^0.13.2"
+setuptools = "^69.5.1"
+torch = "^2.3.0"
+torchvision = "^0.18.0"
+tqdm = "^4.66.4"
+vuer = "^0.0.32rc7"
+wandb = "^0.17.3"
+
+[tool.poetry.group.dev.dependencies]
+pytest = "^8.0.0"
+pytest-cov = "^5.0.0"
+pytest-mock = "^3.14.0"
+black = "^24.0.0"
+flake8 = "^7.0.0"
+mypy = "^1.8.0"
+isort = "^5.13.0"
+toml = "^0.10.2"
+
+[tool.poetry.scripts]
+test = "pytest"
+tests = "pytest"
+
+[tool.pytest.ini_options]
+minversion = "8.0"
+addopts = [
+    "-ra",
+    "--strict-markers",
+    "--strict-config",
+    "--cov=act",
+    "--cov=teleop",
+    "--cov=scripts",
+    "--cov-branch",
+    "--cov-report=html:htmlcov",
+    "--cov-report=xml:coverage.xml",
+    "--cov-report=term-missing",
+    "--cov-fail-under=80",
+    "-vv",
+    "--tb=short",
+    "--maxfail=1",
+]
+testpaths = ["tests"]
+python_files = ["test_*.py", "*_test.py"]
+python_classes = ["Test*"]
+python_functions = ["test_*"]
+markers = [
+    "unit: marks tests as unit tests (fast, isolated)",
+    "integration: marks tests as integration tests (may require external resources)",
+    "slow: marks tests as slow running",
+]
+filterwarnings = [
+    "error",
+    "ignore::UserWarning",
+    "ignore::DeprecationWarning",
+]
+
+[tool.coverage.run]
+source = ["act", "teleop", "scripts"]
+branch = true
+omit = [
+    "*/tests/*",
+    "*/test_*",
+    "*/__pycache__/*",
+    "*/site-packages/*",
+    "*/dist-packages/*",
+    "*/venv/*",
+    "*/.venv/*",
+    "*/migrations/*",
+    "*/__init__.py",
+]
+
+[tool.coverage.report]
+exclude_lines = [
+    "pragma: no cover",
+    "def __repr__",
+    "def __str__",
+    "raise AssertionError",
+    "raise NotImplementedError",
+    "if __name__ == .__main__.:",
+    "if TYPE_CHECKING:",
+    "class .*\\bProtocol\\):",
+    "@(abc\\.)?abstractmethod",
+]
+precision = 2
+show_missing = true
+skip_covered = false
+fail_under = 80
+
+[tool.coverage.html]
+directory = "htmlcov"
+
+[tool.coverage.xml]
+output = "coverage.xml"
+
+[tool.black]
+line-length = 88
+target-version = ['py38', 'py39', 'py310', 'py311']
+include = '\.pyi?$'
+extend-exclude = '''
+/(
+  # directories
+  \.eggs
+  | \.git
+  | \.hg
+  | \.mypy_cache
+  | \.tox
+  | \.venv
+  | build
+  | dist
+  | assets
+  | img
+)/
+'''
+
+[tool.isort]
+profile = "black"
+line_length = 88
+multi_line_output = 3
+include_trailing_comma = true
+force_grid_wrap = 0
+use_parentheses = true
+ensure_newline_before_comments = true
+
+[tool.mypy]
+python_version = "3.8"
+warn_return_any = true
+warn_unused_configs = true
+disallow_untyped_defs = false
+ignore_missing_imports = true
+exclude = [
+    "tests/",
+    "build/",
+    "dist/",
+    "assets/",
+    "img/",
+]
+
+[build-system]
+requires = ["poetry-core>=1.0.0"]
+build-backend = "poetry.core.masonry.api"