def cond_1(obs):
    grip_pos = env.sim.data.get_site_xpos('robot0:grip')
    goal = env.goal
    return (0.01 > np.linalg.norm((grip_pos - goal)))
def cond_1(obs):
    grip_pos = env.sim.data.get_site_xpos('robot0:grip')
    goal = env.goal
    return (0.01 > np.linalg.norm((grip_pos - goal)))