The 'get_achieved_goal' function, in e.g. reaching, returns the end_effector_positions from the '_latest_full_state' dict. This is not updated in 'joint_torque' mode, giving constant values for the achieved goal.
I suggest to split the purpose of the last_full_state.
There should be a structure to store the endeffector position: current_state that is updated just once every step (I think in
do_simulation() after the physics update)
then the storage of the last_full_state and its update is a different issue that I report in a moment.
The 'get_achieved_goal' function, in e.g. reaching, returns the end_effector_positions from the '_latest_full_state' dict. This is not updated in 'joint_torque' mode, giving constant values for the achieved goal.
I suggest to split the purpose of the last_full_state. There should be a structure to store the endeffector position: current_state that is updated just once every step (I think in do_simulation() after the physics update)
then the storage of the last_full_state and its update is a different issue that I report in a moment.