feat: Set up comprehensive Python testing infrastructure

.gitignore

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+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# Claude Code settings and state
+.claude/
+.claude/*
+
+# Testing artifacts
+.pytest_cache/
+.coverage
+htmlcov/
+coverage.xml
+test-results/
+test-output/
+
+# IDE and editor files
+.vscode/
+.idea/
+*.swp
+*.swo
+*~
+.DS_Store
+
+# OS generated files
+Thumbs.db
+ehthumbs.db
+
+# TensorFlow/Keras model files (optional - uncomment if models should not be tracked)
+# *.h5
+# *.hdf5
+# *.pb
+# saved_model/
+
+# TensorRT engine files (optional - uncomment if engines should not be tracked)  
+# *.trt
+# *.engine
+
+# CUDA compilation cache
+.nv_fatb
+
+# ROS specific
+.catkin_workspace
+build/
+devel/
+
+# Temporary files
+*.tmp
+*.temp
+temp/
+tmp/
+
+# Log files
+*.log
+logs/
+
+# Backup files
+*.bak
+*.backup

pyproject.toml

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+[tool.poetry]
+name = "oracle"
+version = "0.1.0"
+description = "ORACLE - Obstacle-aware Robot navigation using Active Learning with Exploration"
+authors = ["Your Name <your.email@example.com>"]
+readme = "README.md"
+package-mode = false
+
+[tool.poetry.dependencies]
+python = "^3.8"
+numpy = "*"
+matplotlib = "*"
+scipy = "*"
+
+[tool.poetry.group.dev.dependencies]
+pytest = "^7.4.0"
+pytest-cov = "^4.1.0"
+pytest-mock = "^3.11.0"
+
+
+[build-system]
+requires = ["poetry-core"]
+build-backend = "poetry.core.masonry.api"
+
+[tool.pytest.ini_options]
+minversion = "7.0"
+addopts = [
+    "-ra",
+    "--strict-markers",
+    "--strict-config",
+    "--cov=.",
+    "--cov-report=term-missing",
+    "--cov-report=html",
+    "--cov-report=xml",
+]
+testpaths = [
+    "tests",
+]
+markers = [
+    "unit: marks tests as unit tests",
+    "integration: marks tests as integration tests", 
+    "slow: marks tests as slow (deselect with '-m \"not slow\"')",
+]
+python_files = ["test_*.py", "*_test.py"]
+python_classes = ["Test*"]
+python_functions = ["test_*"]
+
+[tool.coverage.run]
+source = ["."]
+omit = [
+    "*/tests/*",
+    "*/test_*",
+    "*/__pycache__/*",
+    "*/.*",
+    "setup.py",
+    "*/venv/*",
+    "*/env/*",
+    "*/build/*",
+    "*/dist/*",
+    "*/model_weights/*",
+    "*/waypoints/*",
+    "*/.pytest_cache/*",
+    "*/htmlcov/*",
+]
+
+[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",
+]
+fail_under = 80
+show_missing = true
+
+[tool.coverage.html]
+directory = "htmlcov"
+
+[tool.coverage.xml]
+output = "coverage.xml"