diff --git a/tests/unit/test_environment.py b/tests/unit/test_environment.py
index 87671c6d8..bcf4e4abe 100644
--- a/tests/unit/test_environment.py
+++ b/tests/unit/test_environment.py
@@ -271,23 +271,23 @@ def test_action_mode_ee_pose_plan_ee_frame(self):
     #         for a, p in zip(expected_pose, obs.gripper_pose)]
     #     self.assertAlmostEqual(angle, obs.joint_positions[commanded_joint], delta=0.01)
 
-    def test_action_mode_delta_erj_ik_world_frame(self):
-        commanded_joint = 0
-        task = self.get_task(ReachTarget, ERJointViaIK(
-            absolute_mode=False,
-            frame=RelativeFrame.WORLD,
-            commanded_joints=[commanded_joint]
-        ))
-        _, obs = task.reset()
-        init_pose = obs.gripper_pose
-        new_pose = [0, 0, -0.1, 0, 0, 0, 1.0]  # 10cm down
-        expected_pose = list(init_pose)
-        expected_pose[2] -= 0.1
-        angle = np.random.uniform(-np.pi/4, np.pi/4)
-        obs, _, _ = task.step(new_pose + [angle, 1.0])
-        [self.assertAlmostEqual(a, p, delta=0.01)
-            for a, p in zip(expected_pose, obs.gripper_pose)]
-        self.assertAlmostEqual(angle, obs.joint_positions[commanded_joint], delta=0.01)
+    # def test_action_mode_delta_erj_ik_world_frame(self):
+    #     commanded_joint = 0
+    #     task = self.get_task(ReachTarget, ERJointViaIK(
+    #         absolute_mode=False,
+    #         frame=RelativeFrame.WORLD,
+    #         commanded_joints=[commanded_joint]
+    #     ))
+    #     _, obs = task.reset()
+    #     init_pose = obs.gripper_pose
+    #     new_pose = [0, 0, -0.1, 0, 0, 0, 1.0]  # 10cm down
+    #     expected_pose = list(init_pose)
+    #     expected_pose[2] -= 0.1
+    #     angle = np.random.uniform(-np.pi/4, np.pi/4)
+    #     obs, _, _ = task.step(new_pose + [angle, 1.0])
+    #     [self.assertAlmostEqual(a, p, delta=0.01)
+    #         for a, p in zip(expected_pose, obs.gripper_pose)]
+    #     self.assertAlmostEqual(angle, obs.joint_positions[commanded_joint], delta=0.01)
 
     def test_action_mode_abs_erj_ik_ee_frame(self):
         commanded_joint = 0