robogym/envs/dactyl/goals/face_curriculum.py [85:110]:
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        do_reorientation = random_state.uniform() < self.p_face_flip

        # Rotate face - should we rotate face or reorient the cube
        rotate_face = face_aligned and z_aligned and not do_reorientation

        if rotate_face:
            # Chose index from the geoms that is highest on the z axis
            face_to_shift = cube_utils.face_up(
                self.mujoco_simulation.sim, self.face_geom_names
            )

            # Rotate given face by a random angle and return both, new rotations and an angle
            goal_face, delta_angle = cube_utils.rotated_face_with_angle(
                cube_face,
                face_to_shift,
                random_state,
                self.round_target_face,
                directions=self.goal_directions,
            )

            if len(self.face_geom_names) == 2:
                self.mujoco_simulation.rotate_target_face(face_to_shift, delta_angle)
            else:
                self.mujoco_simulation.rotate_target_face(
                    face_to_shift // 2, face_to_shift % 2, delta_angle
                )
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robogym/envs/dactyl/goals/face_free.py [88:113]:
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        do_reorientation = random_state.uniform() < self.p_face_flip

        # Rotate face - should we rotate face or reorient the cube
        rotate_face = face_aligned and z_aligned and not do_reorientation

        if rotate_face:
            # Chose index from the geoms that is highest on the z axis
            face_to_shift = cube_utils.face_up(
                self.mujoco_simulation.sim, self.face_geom_names
            )

            # Rotate given face by a random angle and return both, new rotations and an angle
            goal_face, delta_angle = cube_utils.rotated_face_with_angle(
                cube_face,
                face_to_shift,
                random_state,
                self.round_target_face,
                directions=self.goal_directions,
            )

            if len(self.face_geom_names) == 2:
                self.mujoco_simulation.rotate_target_face(face_to_shift, delta_angle)
            else:
                self.mujoco_simulation.rotate_target_face(
                    face_to_shift // 2, face_to_shift % 2, delta_angle
                )
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