feat: Set up comprehensive Python testing infrastructure with Poetry

[llbbl]

Set Up Python Testing Infrastructure

Summary

This PR establishes a comprehensive testing infrastructure for the visual-pushing-grasping project, migrating from manual dependency management to Poetry and setting up pytest with all necessary tooling for effective test development.

Changes Made

Package Management

• Poetry Setup: Created pyproject.toml with Poetry configuration
• Dependency Migration: Migrated existing dependencies from README.md:
  • Core: numpy, scipy, opencv-python, matplotlib, torch, torchvision
  • Development: pytest, pytest-cov, pytest-mock
• Lock File: Generated poetry.lock for reproducible installations

Testing Configuration

• pytest Configuration in pyproject.toml:

  • Strict markers and configuration enforcement
  • Test discovery patterns for test_*.py and *_test.py
  • Custom markers: unit, integration, slow
  • Verbose output with detailed failure reporting

• Coverage Configuration:

  • 80% coverage threshold requirement
  • HTML and XML report generation
  • Exclusions for common patterns (tests, cache, virtual environments)
  • Branch coverage tracking

Directory Structure

tests/
├── __init__.py
├── conftest.py          # Shared fixtures
├── test_setup_validation.py  # Infrastructure validation
├── unit/
│   └── __init__.py
└── integration/
    └── __init__.py

Shared Fixtures (conftest.py)

• temp_dir: Temporary directory management
• mock_config: Configuration object for testing
• sample_rgb_image, sample_depth_image: Test image data
• mock_robot, mock_trainer, mock_logger: Mocked components
• vrep_connection: Mock V-REP simulation connection
• sample_workspace_limits: Robot workspace boundaries
• sample_torch_model: Simple PyTorch model for testing
• Auto-reset random seeds for reproducibility

Additional Updates

• Updated .gitignore with:
  • Testing artifacts (.pytest_cache, .coverage, htmlcov/)
  • Claude settings (.claude/*)
  • Virtual environments and IDE files
  • Build artifacts and Python cache

Usage Instructions

Installation

# Install Poetry (if not already installed)
curl -sSL https://install.python-poetry.org | python3 -

# Install dependencies
poetry install

Running Tests

# Run all tests
poetry run test
# or
poetry run tests

# Run with coverage
poetry run pytest --cov=real --cov=simulation --cov-report=html

# Run specific test markers
poetry run pytest -m unit
poetry run pytest -m "not slow"

# Run specific test file
poetry run pytest tests/test_setup_validation.py

Writing Tests

1. Create test files in tests/unit/ or tests/integration/
2. Use fixtures from conftest.py for common test needs
3. Mark tests appropriately: @pytest.mark.unit, @pytest.mark.integration, @pytest.mark.slow
4. Follow the validation test examples for guidance

Validation

The infrastructure has been validated with 17 passing tests that verify:

• Framework installation and configuration
• Fixture accessibility and functionality
• Test markers and parametrization
• Mock objects and test utilities
• Coverage exclusion patterns

Notes

• Poetry is configured to use Python 3.8+ to match the project's existing Python version requirements
• The coverage threshold is set to 80% but currently only applies when testing actual source code (not the validation tests)
• Both poetry run test and poetry run tests commands are available for developer preference
• The testing infrastructure is ready for immediate use - developers can start writing unit and integration tests right away