code: def _check_success(self):
          
  
          # remember objects that are on the correct pegs
          gripper_site_pos = self.sim.data.site_xpos[self.eef_site_id]
          for i in range(len(self.ob_inits)):
              obj_str = str(self.item_names[i]) + "0"
              obj_pos = self.sim.data.body_xpos[self.obj_body_id[obj_str]]
              dist = np.linalg.norm(gripper_site_pos - obj_pos)
              r_reach = 1 - np.tanh(10.0 * dist)
              self.objects_on_pegs[i] = int(self.on_peg(obj_pos, i) and r_reach < 0.6)
  
          if self.single_object_mode > 0:
              return np.sum(self.objects_on_pegs) > 0  # need one object on peg
  
          # returns True if all objects are on correct pegs
          return np.sum(self.objects_on_pegs) == len(self.ob_inits)
docs: Returns True if task has been completed.