parameters: (self)
return_statement: return local_global_up_dot_product < 0.85 or height < 0.15
docstring: Decide whether the minitaur has fallen.
  
      # TODO(yunfeibai): choose the fallen option for force perturbation and
      moving floor, and update the comments.
  
      If the up directions between the base and the world is large (the dot
      product is smaller than 0.85), or the robot base is lower than 0.24, the
      minitaur is considered fallen.
  
      Returns:
        Boolean value that indicates whether the minitaur has fallen.
docstring_summary: Decide whether the minitaur has fallen.
docstring_tokens: Decide whether the minitaur has fallen .
function: def is_fallen(self):
      """Decide whether the minitaur has fallen.
  
      # TODO(yunfeibai): choose the fallen option for force perturbation and
      moving floor, and update the comments.
  
      If the up directions between the base and the world is large (the dot
      product is smaller than 0.85), or the robot base is lower than 0.24, the
      minitaur is considered fallen.
  
      Returns:
        Boolean value that indicates whether the minitaur has fallen.
      """
      orientation = self.minitaur.GetBaseOrientation()
      rot_mat = self._pybullet_client.getMatrixFromQuaternion(orientation)
      local_up = rot_mat[6:]
      _, _, height = self.minitaur.GetBasePosition()
      local_global_up_dot_product = np.dot(np.asarray([0, 0, 1]), np.asarray(local_up))
      return local_global_up_dot_product < 0.85 or height < 0.15
function_tokens: def is_fallen ( self ) : orientation = self . minitaur . GetBaseOrientation ( ) rot_mat = self . _pybullet_client . getMatrixFromQuaternion ( orientation ) local_up = rot_mat [ 6 : ] _ , _ , height = self . minitaur . GetBasePosition ( ) local_global_up_dot_product = np . dot ( np . asarray ( [ 0 , 0 , 1 ] ) , np . asarray ( local_up ) ) return local_global_up_dot_product < 0.85 or height < 0.15