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: https://github.com/ARISE-Initiative/robosuite/blob/eb01e1ffa46f1af0a3aa3ac363d5e63097a6cbcc/robosuite/environments/manipulation/wipe.py#L294-L301 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: https://github.com/ARISE-Initiative/robosuite/blob/eb01e1ffa46f1af0a3aa3ac363d5e63097a6cbcc/robosuite/environments/manipulation/wipe.py#L429-L430

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!