def reachReward():
    graspRew = (- graspDist)
    if ((np.linalg.norm((objPos[:2] - fingerCOM[:2])) < 0.02) and (fingerCOM[2] < 0.05)):
        self.grasp = True
    return graspRew
def reachReward():
    graspRew = (- graspDist)
    if ((np.linalg.norm((objPos[:2] - fingerCOM[:2])) < 0.02) and (fingerCOM[2] < 0.05)):
        self.grasp = True
    return graspRew