[WIP] Add core modules for ML, perception, and planning

.github/workflows/ci.yml

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+name: CI/CD Pipeline
+
+on:
+  push:
+    branches: [ main, develop ]
+  pull_request:
+    branches: [ main, develop ]
+
+jobs:
+  test:
+    name: Test Python ${{ matrix.python-version }}
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ['3.8', '3.9', '3.10', '3.11']
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v4
+      with:
+        python-version: ${{ matrix.python-version }}
+
+    - name: Cache pip packages
+      uses: actions/cache@v3
+      with:
+        path: ~/.cache/pip
+        key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
+        restore-keys: |
+          ${{ runner.os }}-pip-
+
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install -r requirements.txt
+        pip install pytest pytest-cov flake8 black
+
+    - name: Install package
+      run: |
+        pip install -e .
+
+    - name: Lint with flake8
+      run: |
+        # Stop build if there are Python syntax errors or undefined names
+        flake8 src/ --count --select=E9,F63,F7,F82 --show-source --statistics
+        # Exit-zero treats all errors as warnings
+        flake8 src/ --count --exit-zero --max-complexity=10 --max-line-length=100 --statistics
+
+    - name: Check code formatting with black
+      run: |
+        black --check src/ tests/
+
+    - name: Run tests with pytest
+      run: |
+        pytest tests/ -v --cov=humanoid_planner --cov-report=xml --cov-report=html
+
+    - name: Upload coverage to Codecov
+      uses: codecov/codecov-action@v3
+      with:
+        file: ./coverage.xml
+        flags: unittests
+        name: codecov-umbrella
+        fail_ci_if_error: false
+
+  build:
+    name: Build and verify package
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - name: Set up Python
+      uses: actions/setup-python@v4
+      with:
+        python-version: '3.10'
+
+    - name: Install build dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install build twine
+
+    - name: Build package
+      run: |
+        python -m build
+
+    - name: Check package
+      run: |
+        twine check dist/*
+
+    - name: Upload artifacts
+      uses: actions/upload-artifact@v3
+      with:
+        name: dist
+        path: dist/
+
+  docker:
+    name: Build Docker image
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v2
+
+    - name: Build Docker image
+      uses: docker/build-push-action@v4
+      with:
+        context: .
+        push: false
+        tags: humanoid-motion-planning:latest
+        cache-from: type=gha
+        cache-to: type=gha,mode=max
+
+  docs:
+    name: Build documentation
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - name: Set up Python
+      uses: actions/setup-python@v4
+      with:
+        python-version: '3.10'
+
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install -r requirements.txt
+        pip install sphinx sphinx-rtd-theme
+
+    - name: Build documentation
+      run: |
+        cd docs
+        make html || echo "Documentation build not configured yet"

.pre-commit-config.yaml

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+# Pre-commit hooks for code quality
+# Install with: pre-commit install
+
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+      - id: trailing-whitespace
+      - id: end-of-file-fixer
+      - id: check-yaml
+      - id: check-added-large-files
+        args: ['--maxkb=1000']
+      - id: check-merge-conflict
+      - id: check-json
+      - id: check-toml
+      - id: detect-private-key
+
+  - repo: https://github.com/psf/black
+    rev: 23.3.0
+    hooks:
+      - id: black
+        language_version: python3.10
+        args: ['--line-length=100']
+
+  - repo: https://github.com/PyCQA/flake8
+    rev: 6.0.0
+    hooks:
+      - id: flake8
+        args: ['--max-line-length=100', '--extend-ignore=E203,W503']
+
+  - repo: https://github.com/PyCQA/isort
+    rev: 5.12.0
+    hooks:
+      - id: isort
+        args: ['--profile=black', '--line-length=100']
+
+  - repo: https://github.com/pre-commit/mirrors-mypy
+    rev: v1.3.0
+    hooks:
+      - id: mypy
+        additional_dependencies: [types-PyYAML]
+        args: ['--ignore-missing-imports']
+
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v3.4.0
+    hooks:
+      - id: pyupgrade
+        args: ['--py38-plus']
+
+  - repo: https://github.com/pycqa/pydocstyle
+    rev: 6.3.0
+    hooks:
+      - id: pydocstyle
+        args: ['--convention=google']
+        exclude: 'tests/.*'