From 09eff052776a6350dab0848c3413789e492f383b Mon Sep 17 00:00:00 2001 From: Andrew White Date: Mon, 27 Jul 2026 07:30:06 -0500 Subject: [PATCH 1/2] fix: test calls undefined get_desired_rpy instead of get_franka_rpy --- tests/utils/metrics_features_utils_test.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tests/utils/metrics_features_utils_test.py b/tests/utils/metrics_features_utils_test.py index 698d1ee..0a68eb3 100644 --- a/tests/utils/metrics_features_utils_test.py +++ b/tests/utils/metrics_features_utils_test.py @@ -31,6 +31,6 @@ def test_get_desired_rpy(): """Test `metrics_features_utils.get_desired_rpy` functionality.""" reorient_quat = gymapi.Quat(0., 0., 0., 1.) grasp_quat = gymapi.Quat(0.3096829, 0.4129106, 0.8258211, -0.2272021) - _, rpy_actual = utils.metrics_features_utils.get_desired_rpy(reorient_quat, grasp_quat) + _, rpy_actual = utils.metrics_features_utils.get_franka_rpy(grasp_quat) rpy_expected = np.array([0.70899426, -0.58928654, -2.99733187]) assert rpy_expected == pytest.approx(rpy_actual) From 6f4a4cf884608e84768aa3ccc4e8c171d01fb375 Mon Sep 17 00:00:00 2001 From: nvidia-sweep repair bot Date: Fri, 31 Jul 2026 20:47:01 -0500 Subject: [PATCH 2/2] fixup: address auditor feedback Auditor: The call was updated to get_franka_rpy, but the test function name, docstring, and unused reorient_quat variable still reference get_desired_rpy, leaving the test inconsistent and incomplete. --- tests/utils/metrics_features_utils_test.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/tests/utils/metrics_features_utils_test.py b/tests/utils/metrics_features_utils_test.py index 0a68eb3..d5b146b 100644 --- a/tests/utils/metrics_features_utils_test.py +++ b/tests/utils/metrics_features_utils_test.py @@ -27,9 +27,8 @@ import utils.metrics_features_utils -def test_get_desired_rpy(): - """Test `metrics_features_utils.get_desired_rpy` functionality.""" - reorient_quat = gymapi.Quat(0., 0., 0., 1.) +def test_get_franka_rpy(): + """Test `metrics_features_utils.get_franka_rpy` functionality.""" grasp_quat = gymapi.Quat(0.3096829, 0.4129106, 0.8258211, -0.2272021) _, rpy_actual = utils.metrics_features_utils.get_franka_rpy(grasp_quat) rpy_expected = np.array([0.70899426, -0.58928654, -2.99733187])