Unit wiped reward not considered for sparse reward in wipe environment

[LabChameleon]

Hi,

I am confused about the sparse reward signal of the table wipe environment. It says in the environment's reward function that:

robosuite/robosuite/environments/manipulation/wipe.py

Lines 294 to 301 in eb01e1f

	def reward(self, action=None):
	"""
	Reward function for the task.
	Sparse un-normalized reward:
	- a discrete reward of self.unit_wiped_reward is provided per single dirt (peg) wiped during this step
	- a discrete reward of self.task_complete_reward is provided if all dirt is wiped

Hence, I suspect to get a reward for every wiped dirt peg and an additional reward, if all dirt has been wiped with the sparse reward signal.

However, the unit_wiped_reward is only given if reward-shaping (non-sparse reward) is being used:

robosuite/robosuite/environments/manipulation/wipe.py

Lines 429 to 430 in eb01e1f

	if self.reward_shaping:
	reward += self.unit_wiped_reward

This seems inconsistent to me. Do I misunderstand something here or should the unit_wiped_reward be considered in the sparse reward signal as well?

Thank you for your help!