def pickRew():
    if self.pickCompleted:
        return 10
    elif self.grasp:
        if (abs((0.07 - objPos[2])) < 0.1):
            self.pickCompleted = True
        return (1 / (abs((0.07 - objPos[2])) + 0.1))
    else:
        return 0
def pickRew():
    if self.pickCompleted:
        return 10
    elif self.grasp:
        if (abs((0.07 - objPos[2])) < 0.1):
            self.pickCompleted = True
        return (1 / (abs((0.07 - objPos[2])) + 0.1))
    else:
        return 0