Fix megapose unitest for GPU only -> torefactor

tests/test_megapose_inference.py

@@ -17,6 +17,7 @@ class TestMegaPoseInference(unittest.TestCase):
     def test_megapose_pipeline(self):
         """Run detector from CosyPose with coarse and refiner from MegaPose."""
         observation = TestCosyPoseInference._load_crackers_example_observation()
+        observation = observation.cuda()
 
         detector = TestCosyPoseInference._load_detector()
         detections = detector.get_detections(observation=observation)
@@ -30,7 +31,7 @@ def test_megapose_pipeline(self):
         )
 
         model_info = NAMED_MODELS["megapose-1.0-RGB"]
-        pose_estimator = load_named_model("megapose-1.0-RGB", object_dataset).to("cpu")
+        pose_estimator = load_named_model("megapose-1.0-RGB", object_dataset).to("cuda")
         # let's limit the grid, 278 is the most promising one, 477 the least one
         pose_estimator._SO3_grid = pose_estimator._SO3_grid[[278, 477]]
         preds, data = pose_estimator.run_inference_pipeline(
@@ -45,7 +46,7 @@ def test_megapose_pipeline(self):
         self.assertEqual(len(preds), 1)
         self.assertEqual(preds.infos.label[0], "ycbv-obj_000002")
 
-        pose = pin.SE3(preds.poses[0].numpy())
+        pose = pin.SE3(preds.poses[0].cpu().numpy())
         exp_pose = pin.SE3(
             pin.exp3(np.array([1.44, 1.19, -0.91])),
             np.array([0, 0, 0.52]),