StackPyramid#

sparse-reward

🔗 Official Task Page

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)