(self, env)
return rot_mat[-1] < 0.85
Checks if the episode is over.

       If the robot base becomes unstable (based on orientation), the episode
       terminates early.
Checks if the episode is over.
Checks if the episode is over .
def done(self, env):
    """Checks if the episode is over.

       If the robot base becomes unstable (based on orientation), the episode
       terminates early.
    """
    rot_quat = env.robot.GetBaseOrientation()
    rot_mat = env.pybullet_client.getMatrixFromQuaternion(rot_quat)
    return rot_mat[-1] < 0.85
def done ( self , env ) : rot_quat = env . robot . GetBaseOrientation ( ) rot_mat = env . pybullet_client . getMatrixFromQuaternion ( rot_quat ) return rot_mat [ - 1 ] < 0.85