Migrate all dependency management to Poetry (deprecate legacy requirements files)

[ContinuumRoboticsLab]

The Python implementation currently mixes Poetry (via pyproject.toml / poetry.lock) with older dependency mechanisms (requirements.txt, requirements-dev.txt, manual pip install instructions, etc.).
This hybrid setup causes confusion, inconsistent environments, and redundant maintenance.

We should streamline the project to use Poetry exclusively for dependency management, virtual environments, and packaging.

Tasks / Action Items:

• Audit existing requirements*.txt files and port dependencies into pyproject.toml under appropriate groups (main, dev, docs, etc.).
• Verify that all contributors can install and run tests using only:
  poetry install poetry run pytest
• Update README.md and CONTRIBUTING.md with Poetry-based setup instructions.
• Remove old requirements*.txt and outdated install instructions from the repo.
• Confirm CI pipeline (GitHub Actions) uses Poetry for dependency installation and test execution.
• Optionally enable pre-commit hooks via Poetry (poetry run pre-commit install).

[ContinuumRoboticsLab]

pyproject.toml file is missing pytest as a development dependency, causing test execution to fail when setting up a fresh development environment