diff --git a/.gitignore b/.gitignore
index ef8e3670a7dbd178e9615e7cdffb4ef9479c3b90..e624cfb33cb4e5eefb5b51e87bfdf3807d81cc11 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,6 +4,7 @@ saved_agents
 benchmarks
 baselines
 simple
+final_wo_o
 workspace.code-workspace
 test
 tech_demo.py
diff --git a/carla_environment.py b/carla_environment.py
index 8c93ae3c41f557daf65891580f69702d34442620..5f002311685f1d0de42017145658e7f8c3d16273 100644
--- a/carla_environment.py
+++ b/carla_environment.py
@@ -263,13 +263,11 @@ class World:
             r -= 0.02
 
         done = False
-        if pos_diff < 1.2:
+        if pos_diff < 1.1 and v < 0.01:
             done = True
-            r += 100
+            r += 150
             if yaw_dif < 0.01:
-                r+= 100
-            if v < 0.01:
-                r+=50
+                r+= 50
             
         if self.collision_sensor.collision is not None:
             r -= 100