improve test cases, edit docstring

Signed-off-by: zhx06 <zihaox@nvidia.com>

Author: zhx06

isaaclab_arena/relations/relation_solver.py

@@ -55,8 +55,8 @@ class MeshPairEntry(NamedTuple):
     anchor_pos: torch.Tensor | None  # (3,) world position, or None for non-anchors
     anchor_yaw: float
     centers_local: torch.Tensor  # (S, 3) sphere centers in subject-local frame
-    radii: torch.Tensor  # (S,) sphere radii
-    subject_bbox_min: torch.Tensor  # (B, 3) subject bbox min corners, B = batch_size
+    radii: torch.Tensor  # (S,)
+    subject_bbox_min: torch.Tensor  # (B, 3) subject bbox min corners
     subject_bbox_max: torch.Tensor  # (B, 3)
     obstacle_bbox_min: torch.Tensor  # (B, 3) obstacle bbox min corners
     obstacle_bbox_max: torch.Tensor  # (B, 3)
@@ -480,14 +480,13 @@ def _compute_no_overlap_loss_mesh(
         state: RelationSolverState,
         debug: bool,
     ) -> torch.Tensor:
-        """Per-env sphere-to-SDF penetration loss; iterates envs, calls the multi-mesh kernel per batch."""
+        """Per-env sphere-to-SDF penetration loss."""
         device = state.device
         total_loss = torch.zeros(state.batch_size, device=device, dtype=torch.float32)
         clearance_m = self.params.clearance_m
         slope = self._no_collision_strategy.slope
 
-        # Per-env loop (not batched like AABB): per-env yaw and active-pair masking each produce a
-        # different sphere subset before the kernel launch, so envs cannot be collapsed into one call.
+        # Per-env loop (not batched like AABB): per-env yaw and active-pair masking produce a different sphere subset per env.
         for b in range(state.batch_size):
             for cache in (self._mesh_cache_forward, self._mesh_cache_reverse):
                 if cache is None:

isaaclab_arena/relations/warp_mesh_manager.py

@@ -144,6 +144,7 @@ def warn_sdf_sentinel(self, sdf_values: torch.Tensor) -> None:
 
     def get_collision_mesh(self, obj: ObjectBase) -> trimesh.Trimesh | None:
         """Return the cached collision mesh, extracting from USD on first access."""
+        # ObjectBase doesn't guarantee usd_path; only Object subclasses set it.
         usd_path = getattr(obj, "usd_path", None)
         if usd_path is None:
             return obj.get_collision_mesh()

isaaclab_arena/tests/test_mesh_collision.py

@@ -304,7 +304,6 @@ def test_centers_in_target_frame_applies_both_yaws():
 
 @requires_warp
 def test_object_placer_mesh_mode_end_to_end():
-    """ObjectPlacer.place() with CollisionMode.MESH returns a valid result."""
     from isaaclab_arena.relations.object_placer import ObjectPlacer
     from isaaclab_arena.relations.object_placer_params import ObjectPlacerParams
 
@@ -442,7 +441,6 @@ def test_mesh_sdf_backward_gradient():
 
 @requires_warp
 def test_solver_mesh_batch_size_two():
-    """Solver MESH mode handles batch_size > 1 (both envs solved independently)."""
     table = _make_table()
     a = _make_cylinder("cyl_a")
     b = _make_cylinder("cyl_b")
@@ -478,7 +476,6 @@ def test_solver_mesh_batch_size_two():
 
 @requires_warp
 def test_broadphase_skips_separated_pairs():
-    """Separated objects have lower mesh loss than overlapping ones (broadphase filters pairs)."""
     table = _make_table()
     a = _make_cylinder("a", radius=0.03)
     b = _make_cylinder("b", radius=0.03)

isaaclab_arena/tests/test_object_placer_reproducibility.py

@@ -306,7 +306,6 @@ def test_random_yaw_init_applied_yaw_matches_selected_candidate():
 
 
 def test_random_yaw_init_composes_marker_yaw():
-    """orientations dict carries total yaw (marker + sampled); applied pose matches it."""
     marker_yaw = math.pi / 6
     solver_params = RelationSolverParams(max_iters=10, verbose=False)
     desk, box1, box2 = _create_test_objects()

isaaclab_arena/tests/test_usd_scale_helpers.py

@@ -99,12 +99,7 @@ def _test_extract_trimesh_translated_child_nonuniform_scale(simulation_app):
 
 
 def _test_bbox_translated_child_nonuniform_scale(simulation_app):
-    """BBox uses ComputeLocalBound * scale (post-transform scale on root-local extents).
-
-    For a child translated +1 with verts ±0.5: root-local bound X=[0.5, 1.5], * scale_x=2 → [1.0, 3.0].
-    Note: mesh path scales per-prim verts first → X=[0.0, 2.0]. These differ for translated children
-    under non-uniform scale. AABB is conservative (larger), which is safe for collision checks.
-    """
+    """AABB is conservative vs mesh path for translated children under non-uniform scale."""
     import tempfile
 
     from pxr import Gf, Usd, UsdGeom
@@ -181,7 +176,6 @@ def _test_bbox_translated_child_nonuniform_scale(simulation_app):
 
 
 def _test_both_paths_agree_origin_prim(simulation_app):
-    """For an origin-centered single prim, mesh and bbox agree exactly."""
     import tempfile
 
     from pxr import Gf, Usd, UsdGeom