def getReward(self):
        if self.env.glasSum >= 2: grip = 1.0
        else: grip = 0.0
        if self.env.tableSum > 0: self.tableFlag = 10.0
        #self.dist[4]=0.0
        #self.dist[8]=0.0
        dis = sqrt((self.dist[0:3] ** 2).sum())
        if self.count == self.epiLen:
            return 25.0 + grip - dis - self.tableFlag #/nig
        else:
            return (25.0 - dis) / float(self.epiLen) + (grip - float(self.env.tableSum)) * 0.1 #/nig -(1.0+self.oldAction[15])

#Learn to grasp a glas at 5 different locations
dataset/ETHPy150Open pybrain/pybrain/pybrain/rl/environments/ode/tasks/ccrl.py/CCRLPlateTask.getReward/original