robogym/envs/dactyl/goals/full_unconstrained.py [97:115]:
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        return {
            # Cube pos does not count
            "cube_pos": np.zeros(goal_state["cube_pos"].shape),
            # Quaternion difference of a rotation
            "cube_quat": np.zeros(goal_state["cube_quat"].shape),
            # Angle differences
            "cube_face_angle": rotation.normalize_angles(
                goal_state["cube_face_angle"] - current_state["cube_face_angle"]
            ),
        }

    def goal_distance(self, goal_state, current_state):
        """ Distance from the current goal to the target state. """
        relative_goal = self.relative_goal(goal_state, current_state)

        goal_distance = {
            "cube_pos": 0.0,
            "cube_quat": 0.0,
            "cube_face_angle": np.linalg.norm(relative_goal["cube_face_angle"]),
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robogym/envs/dactyl/goals/unconstrained_cube_solver.py [82:100]:
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        return {
            # Cube pos does not count
            "cube_pos": np.zeros(goal_state["cube_pos"].shape),
            # Quaternion difference of a rotation
            "cube_quat": np.zeros(goal_state["cube_quat"].shape),
            # Angle differences
            "cube_face_angle": rotation.normalize_angles(
                goal_state["cube_face_angle"] - current_state["cube_face_angle"]
            ),
        }

    def goal_distance(self, goal_state, current_state):
        """ Distance from the current goal to the target state. """
        relative_goal = self.relative_goal(goal_state, current_state)

        goal_distance = {
            "cube_pos": 0.0,
            "cube_quat": 0.0,  # qpos has no effect on whether we consider goal achieved
            "cube_face_angle": np.linalg.norm(relative_goal["cube_face_angle"]),
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