Duplicate get_oriented_bounding_box_from_3d_points in FrankaLiberoApi masks an undefined _get_obb

Summary

FrankaLiberoApi defines get_oriented_bounding_box_from_3d_points twice. The first definition calls _get_obb, a name that is never imported into that module, so it would raise NameError if it were ever the live one. It is currently harmless only because a second definition later in the same class body overwrites it. Any reordering, or a cleanup that removes the second definition, turns this into a runtime error.

Where

cap/integrations/franka/libero.py

• line 202 — first def get_oriented_bounding_box_from_3d_points(...)
• line 219 — its body: return _get_obb(points)
• line 459 — second def get_oriented_bounding_box_from_3d_points(...), a full open3d implementation

libero.py imports nothing from cap/integrations/franka/common.py. The two sibling modules that use the same delegation idiom do import it:

• cap/integrations/franka/libero_reduced.py:28 — get_oriented_bounding_box_from_3d_points as _get_obb
• cap/integrations/franka/control_reduced.py:27 — same

So line 202 reads as a copy of the sibling method without its accompanying import.

Reproduce

import inspect
from aspire.sim.cap.integrations.franka import libero as m

print(inspect.getsourcelines(m.FrankaLiberoApi.get_oriented_bounding_box_from_3d_points)[1])
print(hasattr(m, "_get_obb"))
print(inspect.getsource(m.FrankaLiberoApi).count("def get_oriented_bounding_box_from_3d_points"))

459
False
2

ruff check cap also flags both halves: F821 undefined name _get_obb at line 219, and F811 redefinition at line 459.

Suggested fix, and one trap in it

Deleting the dead line 202-219 method is the safe fix.

The tempting alternative — add the missing import and drop the second definition — changes behaviour. The two implementations are not equivalent: the in-class version at line 459 returns a quaternion_wxyz key that common.py::get_oriented_bounding_box_from_3d_points does not:

# libero.py:482
return {"center": obb.center, "extent": obb.extent, "R": obb.R,
        "quaternion_wxyz": vtf.SO3.from_matrix(obb.R).wxyz}

# common.py:340
return {"center": obb.center, "extent": obb.extent, "R": obb.R}

Since this method is part of the API surface injected into generated code, dropping that key would silently break any generated program that reads obb["quaternion_wxyz"]. Nothing in cap/ or .claude/ consumes it today, but the docstrings on both definitions document only center / extent / R, so the key is undocumented either way and worth reconciling.

Environment

Fresh clone at f4c8939, .venv-libero (Python 3.12).

Start in cap/integrations/franka/libero.py by inspecting both get_oriented_bounding_box_from_3d_points definitions and compare the live implementation with the sibling modules. Run ruff check cap and the supplied inspect snippet; done means the duplicate and undefined-name findings are gone while the live method still exposes quaternion_wxyz.