feat: Set up comprehensive Python testing infrastructure

[llbbl]

Set up comprehensive Python testing infrastructure

Summary

This PR establishes a complete testing infrastructure for the Isaac-ManipulaRL project using Poetry as the package manager and pytest as the testing framework.

Changes Made

Package Management

• Poetry Configuration: Set up pyproject.toml with Poetry configuration for dependency management
• Testing Dependencies: Added pytest, pytest-cov, and pytest-mock as development dependencies
• Core Dependencies: Included numpy, torch, and opencv-python as primary dependencies

Testing Infrastructure

• Directory Structure: Created organized test directories:
  • tests/ - Root test directory
  • tests/unit/ - Unit tests
  • tests/integration/ - Integration tests
  • All directories include proper __init__.py files

Configuration

• pytest Configuration: Comprehensive pytest setup in pyproject.toml including:
  • Test discovery patterns for files, classes, and functions
  • Coverage reporting with 80% threshold requirement
  • HTML and XML coverage report generation
  • Custom markers: unit, integration, slow
  • Strict configuration options for better test quality

Fixtures and Utilities

• Comprehensive fixtures in conftest.py:
  • temp_dir - Temporary directory management
  • sample_config - RL training configuration
  • mock_isaac_gym - Mock Isaac Gym environment
  • mock_torch_device - Mock CUDA device
  • sample_observation/action - RL data generators
  • robot_joint_names - Robot configuration data
  • sample_trajectory - Motion planning data
  • mock_ros_node - ROS integration mocking
  • mock_camera_data - Vision system mocking

Quality Assurance

• Coverage Configuration: Proper source inclusion and exclusion patterns
• Test Markers: Automatic marking of tests based on directory location
• Validation Tests: Infrastructure validation tests to ensure everything works

Additional Improvements

• Updated .gitignore: Added Claude Code settings (.claude/)
• Existing Coverage: Maintained existing test-related gitignore entries

Running Tests

Basic Commands

# Run all tests
poetry run pytest

# Run with coverage
poetry run pytest --cov=rlgpu

# Run specific marker groups
poetry run pytest -m unit
poetry run pytest -m integration
poetry run pytest -m slow

Coverage Reports

• Terminal: Coverage summary displayed in terminal
• HTML: Detailed report in htmlcov/index.html
• XML: Machine-readable report in coverage.xml

Validation

✅ All infrastructure validation tests pass (12/12)
✅ Unit marker functionality working
✅ Slow marker functionality working
✅ Coverage reporting configured correctly
✅ Poetry dependency installation successful

Dependencies Installed

Testing Framework:

• pytest 7.4.4
• pytest-cov 4.1.0
• pytest-mock 3.14.1

Core Libraries:

• numpy 2.0.2
• torch 2.7.1
• opencv-python 4.12.0.88

Notes

• The current 0% coverage is expected since no actual unit tests exist yet for the source code
• The infrastructure is fully functional and ready for developers to start writing tests
• All test markers and fixtures have been validated and are working correctly
• Poetry lock file has been generated and should be committed to ensure reproducible builds

Next Steps

Developers can now:

1. Start writing unit tests in tests/unit/ for individual components
2. Create integration tests in tests/integration/ for end-to-end workflows
3. Use the provided fixtures to mock external dependencies
4. Run poetry run pytest to execute the test suite with coverage reporting