# StackPyramid

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

[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#stackpyramid-v1)**


**Task Description:** The goal is to pick up a red cube, place it next to the green cube, and stack the blue cube on top of the red and green cube without it falling off.

**Randomizations:**
- all cubes have their z-axis rotation randomized
- all cubes have their xy positions on top of the table scene randomized. The positions are sampled such that the cubes do not collide with each other.

**Success Conditions:**
- the blue cube is static
- the blue cube is on top of both the red and green cube (to within half of the cube size)
- none of the red, green, or blue cube are grasped by the robot (robot must let go of the cubes)


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