def cond_0(obs):
    grip_pos = env.sim.data.get_site_xpos('robot0:grip')
    return (0.01 > np.linalg.norm((grip_pos - self.waypoint), axis=(- 1)))
def cond_0(obs):
    grip_pos = env.sim.data.get_site_xpos('robot0:grip')
    return (0.01 > np.linalg.norm((grip_pos - self.waypoint), axis=(- 1)))