# PullCubeTool

![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#pullcubetool-v1)**


**Task Description:** Given an L-shaped tool that is within the reach of the robot, leverage the tool to pull a cube that is out of it's reach

**Randomizations:**
- The cube's position (x,y) is randomized on top of a table in the region “<out of manipulator reach, but within reach of tool>”. It is placed flat on the table

**Success Conditions:**
- The cube's xy position is within the goal region of the arm's base (marked by reachability)


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