# PokeCube

![dense-reward][dense-reward-badge]
![sparse-reward][sparse-reward-badge]

[dense-reward-badge]: https://img.shields.io/badge/dense-yes-brightgreen.svg
[sparse-reward-badge]: https://img.shields.io/badge/sparse-yes-brightgreen.svg

**[🔗 Official Task Page](https://maniskill.readthedocs.io/en/latest/tasks/table_top_gripper/index.html#pokecube-v1)**


**Task Description:** A simple task where the objective is to poke a red cube with a peg and push it to a target goal position.

**Randomizations:**
- the peg's xy position is randomized on top of a table in the region [0.1, 0.1] x [-0.1, -0.1]. It is placed flat along it's length on the table
- the cube's x-coordinate is fixed to peg's x-coordinate + peg half-length (0.12) + 0.1 and y-coordinate is randomized in range [-0.1, 0.1]. It is placed flat on the table
- the cube's z-axis rotation is randomized in range [- pi/6, pi/6]
- the target goal region is marked by a red/white circular target. The position of the target is fixed to be the cube xy position + [0.05 + goal_radius, 0]

**Success Conditions:**
- the cube's xy position is within goal_radius (default 0.05) of the target's xy position by euclidean distance
- the robot is static


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