parameters: (self)
return_statement: return np.dot(np.asarray([0, 0, 1]), np.asarray(local_up)) < 0.85
docstring: Decide whether the minitaur has fallen.
  
      If the up directions between the base and the world is large (the dot
      product is smaller than 0.85), 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.
  
      If the up directions between the base and the world is large (the dot
      product is smaller than 0.85), 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:]
      return np.dot(np.asarray([0, 0, 1]), np.asarray(local_up)) < 0.85
function_tokens: def is_fallen ( self ) : orientation = self . minitaur . GetBaseOrientation ( ) rot_mat = self . _pybullet_client . getMatrixFromQuaternion ( orientation ) local_up = rot_mat [ 6 : ] return np . dot ( np . asarray ( [ 0 , 0 , 1 ] ) , np . asarray ( local_up ) ) < 0.85