cleanup

Author: xyao-nv

isaaclab_arena_curobo/curobo_ik_utils.py

@@ -222,7 +222,7 @@ def from_embodiment(cls, embodiment, **kwargs) -> StandaloneIKReachability:
 
         return cls(get_curobo_cfg_for(embodiment), **kwargs)
 
-    def _to_curobo_device(self, tensor: torch.Tensor) -> torch.Tensor:
+    def to_curobo_device(self, tensor: torch.Tensor) -> torch.Tensor:
         """Move a tensor onto the cuRobo CUDA device / dtype (device isolation)."""
         return tensor.to(device=self.tensor_args.device, dtype=self.tensor_args.dtype)
 
@@ -236,8 +236,8 @@ def _make_pose(
         """Create a cuRobo ``Pose`` on the cuRobo device, converting xyzw->wxyz when needed."""
         from curobo.types.math import Pose
 
-        position = self._to_curobo_device(position)
-        quaternion = self._to_curobo_device(quaternion)
+        position = self.to_curobo_device(position)
+        quaternion = self.to_curobo_device(quaternion)
         quaternion_wxyz = torch.roll(quaternion, shifts=1, dims=-1) if quat_is_xyzw else quaternion
         return Pose(position=position, quaternion=quaternion_wxyz)
 

isaaclab_arena_curobo/tests/test_ik_gated_placement.py

@@ -14,6 +14,7 @@
 from __future__ import annotations
 
 import torch
+import pytest
 from unittest.mock import MagicMock
 
 
@@ -94,6 +95,7 @@ def _fake_embodiment():
     return embodiment
 
 
+@pytest.mark.curobo_deps
 def test_validator_accepts_when_all_grasps_feasible(monkeypatch):
     """A layout is accepted (and stamped reachable) when every movable-object grasp is feasible."""
     from isaaclab_arena.relations.placement_validation import PlacementCheck
@@ -110,6 +112,7 @@ def test_validator_accepts_when_all_grasps_feasible(monkeypatch):
     assert captured["num_grasps"] == 1
 
 
+@pytest.mark.curobo_deps
 def test_validator_rejects_when_any_grasp_infeasible(monkeypatch):
     """A layout is rejected (and stamped unreachable) when any movable-object grasp is infeasible."""
     from isaaclab_arena.relations.placement_validation import PlacementCheck