def state_reward_done_unpack(env_info, idx=0):
    """ Unpacks the state, rewards and done signal from the environment info """
    s1 = env_info.vector_observations[idx] # get the next state
    r1 = env_info.rewards[idx]             # get the reward
    done = env_info.local_done[idx]        # see if episode has finished
    return (s1, r1, done)