feat: Set up comprehensive Python testing infrastructure

.gitignore

@@ -163,3 +163,6 @@ logs/
 wandb/
 .vscode/
 *.pdf
+
+# Claude Code settings
+.claude/*

pyproject.toml

@@ -0,0 +1,77 @@
+[tool.poetry]
+name = "beso"
+version = "0.1.0"
+description = "Code for the RSS paper Goal Conditioned Imitation Learning using Score-based Diffusion Policies"
+license = "MIT"
+authors = ["Moritz Reuss"]
+readme = "README.md"
+packages = [{include = "beso"}]
+
+[tool.poetry.dependencies]
+python = "^3.8"
+
+[tool.poetry.group.test.dependencies]
+pytest = "^7.4.0"
+pytest-cov = "^4.1.0"
+pytest-mock = "^3.11.0"
+
+[tool.poetry.scripts]
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+python_files = ["test_*.py", "*_test.py"]
+python_classes = ["Test*"]
+python_functions = ["test_*"]
+addopts = [
+    "--strict-markers",
+    "--strict-config",
+    "--cov=beso",
+    "--cov-report=html:htmlcov",
+    "--cov-report=xml:coverage.xml",
+    "--cov-report=term-missing",
+    "--cov-fail-under=80",
+    "-v",
+    "--tb=short"
+]
+markers = [
+    "unit: Unit tests",
+    "integration: Integration tests", 
+    "slow: Slow running tests"
+]
+
+[tool.coverage.run]
+source = ["beso"]
+omit = [
+    "*/tests/*",
+    "*/test_*",
+    "*/__pycache__/*",
+    "*/venv/*",
+    "*/env/*",
+    "setup.py"
+]
+
+[tool.coverage.report]
+exclude_lines = [
+    "pragma: no cover",
+    "def __repr__",
+    "if self.debug:",
+    "if settings.DEBUG",
+    "raise AssertionError",
+    "raise NotImplementedError",
+    "if 0:",
+    "if __name__ == .__main__.:",
+    "class .*\\bProtocol\\):",
+    "@(abc\\.)?abstractmethod"
+]
+show_missing = true
+skip_covered = false
+
+[tool.coverage.html]
+directory = "htmlcov"
+
+[tool.coverage.xml]
+output = "coverage.xml"
+
+[build-system]
+requires = ["poetry-core"]
+build-backend = "poetry.core.masonry.api"

tests/conftest.py

@@ -0,0 +1,126 @@
+"""Shared pytest fixtures for the BESO test suite."""
+
+import tempfile
+import shutil
+from pathlib import Path
+from typing import Dict, Any
+from unittest.mock import MagicMock, patch
+
+import pytest
+
+
+@pytest.fixture
+def temp_dir():
+    """Create a temporary directory for test files."""
+    temp_dir = tempfile.mkdtemp()
+    yield Path(temp_dir)
+    shutil.rmtree(temp_dir)
+
+
+@pytest.fixture
+def mock_config() -> Dict[str, Any]:
+    """Provide a mock configuration dictionary for testing."""
+    return {
+        "model": {
+            "name": "test_model",
+            "hidden_dim": 128,
+            "num_layers": 4
+        },
+        "training": {
+            "batch_size": 32,
+            "learning_rate": 0.001,
+            "epochs": 10
+        },
+        "env": {
+            "name": "block_pushing",
+            "action_dim": 4,
+            "obs_dim": 10
+        }
+    }
+
+
+@pytest.fixture
+def mock_observation():
+    """Provide a mock observation for testing agents and environments."""
+    return {
+        "state": [0.1, 0.2, 0.3, 0.4, 0.5],
+        "image": None,  # Could be replaced with actual image data in specific tests
+        "goal": [0.8, 0.9, 1.0]
+    }
+
+
+@pytest.fixture
+def mock_action():
+    """Provide a mock action for testing."""
+    return [0.5, -0.2, 0.8, 0.1]
+
+
+@pytest.fixture
+def mock_trajectory():
+    """Provide a mock trajectory for testing data loaders."""
+    return {
+        "observations": [[0.1, 0.2, 0.3], [0.2, 0.3, 0.4], [0.3, 0.4, 0.5]],
+        "actions": [[0.5, -0.2], [0.6, -0.1], [0.7, 0.0]],
+        "rewards": [0.1, 0.2, 0.5],
+        "dones": [False, False, True]
+    }
+
+
+@pytest.fixture
+def mock_device():
+    """Mock device for testing (CPU)."""
+    return "cpu"
+
+
+@pytest.fixture
+def mock_torch_model():
+    """Create a mock PyTorch model for testing."""
+    model = MagicMock()
+    model.train.return_value = None
+    model.eval.return_value = None
+    model.parameters.return_value = []
+    return model
+
+
+@pytest.fixture
+def mock_pybullet():
+    """Mock pybullet for environment testing without actual physics simulation."""
+    with patch('pybullet') as mock_pb:
+        mock_pb.connect.return_value = 0
+        mock_pb.disconnect.return_value = None
+        mock_pb.loadURDF.return_value = 1
+        mock_pb.resetBasePositionAndOrientation.return_value = None
+        mock_pb.stepSimulation.return_value = None
+        yield mock_pb
+
+
+@pytest.fixture
+def sample_urdf_path(temp_dir):
+    """Create a sample URDF file for testing."""
+    urdf_content = '''<?xml version="1.0"?>
+<robot name="test_robot">
+    <link name="base_link">
+        <visual>
+            <geometry>
+                <box size="0.1 0.1 0.1"/>
+            </geometry>
+        </visual>
+    </link>
+</robot>'''
+
+    urdf_path = temp_dir / "test_robot.urdf"
+    urdf_path.write_text(urdf_content)
+    return str(urdf_path)
+
+
+@pytest.fixture
+def mock_workspace_bounds():
+    """Provide mock workspace bounds for testing."""
+    return {
+        "x_min": -0.5,
+        "x_max": 0.5,
+        "y_min": -0.5, 
+        "y_max": 0.5,
+        "z_min": 0.0,
+        "z_max": 0.3
+    }

tests/test_setup_validation.py

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+"""Validation tests to ensure the testing infrastructure is properly set up."""
+
+import pytest
+from pathlib import Path
+
+
+def test_pytest_working():
+    """Basic test to verify pytest is working."""
+    assert True
+
+
+def test_pytest_markers():
+    """Test that custom markers are properly configured."""
+    # This test should pass and verify our markers work
+    pass
+
+
+@pytest.mark.unit
+def test_unit_marker():
+    """Test that the unit marker works."""
+    assert 1 + 1 == 2
+
+
+@pytest.mark.integration
+def test_integration_marker():
+    """Test that the integration marker works."""
+    assert "test" in "testing"
+
+
+@pytest.mark.slow
+def test_slow_marker():
+    """Test that the slow marker works."""
+    import time
+    time.sleep(0.01)  # Small sleep to simulate slow test
+    assert True
+
+
+def test_fixtures_available(temp_dir, mock_config, mock_observation):
+    """Test that fixtures from conftest.py are available."""
+    # Test temp_dir fixture
+    assert temp_dir.exists()
+    assert temp_dir.is_dir()
+
+    # Test mock_config fixture
+    assert isinstance(mock_config, dict)
+    assert "model" in mock_config
+    assert "training" in mock_config
+
+    # Test mock_observation fixture
+    assert isinstance(mock_observation, dict)
+    assert "state" in mock_observation
+
+
+def test_beso_package_importable():
+    """Test that the beso package can be imported."""
+    try:
+        import beso
+        assert hasattr(beso, '__init__')
+    except ImportError:
+        pytest.skip("BESO package dependencies not installed yet")
+
+
+class TestProjectStructure:
+    """Tests to validate the project structure."""
+
+    def test_project_root_exists(self):
+        """Test that expected project files exist."""
+        project_root = Path(__file__).parent.parent
+
+        assert (project_root / "pyproject.toml").exists()
+        assert (project_root / "beso").exists()
+        assert (project_root / "beso" / "__init__.py").exists()
+
+    def test_test_structure_exists(self):
+        """Test that test directory structure is correct."""
+        test_dir = Path(__file__).parent
+
+        assert (test_dir / "__init__.py").exists()
+        assert (test_dir / "conftest.py").exists()
+        assert (test_dir / "unit").exists()
+        assert (test_dir / "integration").exists()
+        assert (test_dir / "unit" / "__init__.py").exists()
+        assert (test_dir / "integration" / "__init__.py").exists()