IVYXSTUDIO · ROBOTICS

Red object → handoff → tray · ALOHA

ivy.agent.handover-aloha · v1.0.0

ivyx

The left arm picks the red object and sets it on the handoff, and once its jaws are open the right arm picks it from there and lets go over the tray. Every move names its arm and goes through the gateway as robotics.arm.moveTo, so the laboratory's envelope reads each one.

Steps

In the order the agent's file lists them, each with where its inputs come from and the values the file fixes. A branch or a loop is a step too.

01
Find the red object (left)
robotics.scene.locate
takes
target from the agent's input
set
color red
target sim
Extension step
02
A pose above the cube (left)
robotics.pose.offset
takes
pose from step 1
dz from the agent's input, approach
set
dz 0.06
Extension step
03
Move above the cube (left)
robotics.arm.moveTo
takes
pose from step 2
target from the agent's input
speed from the agent's input
set
behavior ivy.agent.handover-aloha
speed 0.25
target sim
arm left
Extension step
04
The grasp pose (left)
robotics.pose.offset
takes
pose from step 1
set
dz 0.005
Extension step
05
Come down on the cube (left)
robotics.arm.moveTo
takes
pose from step 4
target from the agent's input
set
behavior ivy.agent.handover-aloha
speed 0.1
target sim
arm left
Extension step
06
Close the jaws (left)
robotics.gripper.set
takes
target from the agent's input
set
behavior ivy.agent.handover-aloha
state close
target sim
arm left
Extension step
07
A pose to lift to (left)
robotics.pose.offset
takes
pose from step 1
dz from the agent's input, carry
set
dz 0.1
Extension step
08
Lift the cube (left)
robotics.arm.moveTo
takes
pose from step 7
target from the agent's input
speed from the agent's input
set
behavior ivy.agent.handover-aloha
speed 0.25
target sim
arm left
Extension step
09
Find the handoff (left)
robotics.scene.locate
takes
target from the agent's input
set
name handoff
target sim
Extension step
10
A pose over the tray (left)
robotics.pose.offset
takes
pose from step 9
dz from the agent's input, carry
set
dz 0.1
Extension step
11
Carry it over the tray (left)
robotics.arm.moveTo
takes
pose from step 10
target from the agent's input
speed from the agent's input
set
behavior ivy.agent.handover-aloha
speed 0.25
target sim
arm left
Extension step
12
A pose to let go from (left)
robotics.pose.offset
takes
pose from step 9
dz from the agent's input, release
set
dz 0.05
Extension step
13
Lower into the tray (left)
robotics.arm.moveTo
takes
pose from step 12
target from the agent's input
set
behavior ivy.agent.handover-aloha
speed 0.1
target sim
arm left
Extension step
14
Open the jaws (left)
robotics.gripper.set
takes
target from the agent's input
set
behavior ivy.agent.handover-aloha
state open
target sim
arm left
Extension step
15
Move back (left)
robotics.arm.moveTo
takes
pose from step 7
target from the agent's input
speed from the agent's input
set
behavior ivy.agent.handover-aloha
speed 0.25
target sim
arm left
Extension step
16
Find the red object (right)
robotics.scene.locate
takes
target from the agent's input
set
color red
target sim
Extension step
17
A pose above the cube (right)
robotics.pose.offset
takes
pose from step 16
dz from the agent's input, approach
set
dz 0.06
Extension step
18
Move above the cube (right)
robotics.arm.moveTo
takes
pose from step 17
target from the agent's input
speed from the agent's input
set
behavior ivy.agent.handover-aloha
speed 0.25
target sim
arm right
Extension step
19
The grasp pose (right)
robotics.pose.offset
takes
pose from step 16
set
dz 0.005
Extension step
20
Come down on the cube (right)
robotics.arm.moveTo
takes
pose from step 19
target from the agent's input
set
behavior ivy.agent.handover-aloha
speed 0.1
target sim
arm right
Extension step
21
Close the jaws (right)
robotics.gripper.set
takes
target from the agent's input
set
behavior ivy.agent.handover-aloha
state close
target sim
arm right
returns
picked
Extension step
22
A pose to lift to (right)
robotics.pose.offset
takes
pose from step 16
dz from the agent's input, carry
set
dz 0.1
Extension step
23
Lift the cube (right)
robotics.arm.moveTo
takes
pose from step 22
target from the agent's input
speed from the agent's input
set
behavior ivy.agent.handover-aloha
speed 0.25
target sim
arm right
Extension step
24
Find the tray (right)
robotics.scene.locate
takes
target from the agent's input
set
name tray
target sim
Extension step
25
A pose over the tray (right)
robotics.pose.offset
takes
pose from step 24
dz from the agent's input, carry
set
dz 0.1
Extension step
26
Carry it over the tray (right)
robotics.arm.moveTo
takes
pose from step 25
target from the agent's input
speed from the agent's input
set
behavior ivy.agent.handover-aloha
speed 0.25
target sim
arm right
Extension step
27
A pose to let go from (right)
robotics.pose.offset
takes
pose from step 24
dz from the agent's input, release
set
dz 0.05
Extension step
28
Lower into the tray (right)
robotics.arm.moveTo
takes
pose from step 27
target from the agent's input
set
behavior ivy.agent.handover-aloha
speed 0.1
target sim
arm right
returns
placed
Extension step
29
Open the jaws (right)
robotics.gripper.set
takes
target from the agent's input
set
behavior ivy.agent.handover-aloha
state open
target sim
arm right
returns
released
Extension step

What it runs on

Its steps are an extension's own capabilities. Install the extension from the extension marketplace: it is not added with the agent.

extension-robotics0.19.0 or laterrobotics.arm.moveTo, robotics.gripper.set, robotics.pose.offset, robotics.scene.locate

Robot: Arm
Written for: aloha
Joints: 6
Gripper: Yes
Sensors: scene

What it touches

Collected from what each of its nodes declares and what the agent's own file declares, such as moving a robot, plus the model call when a step is a model turn. A declaration is the author's statement, and it is what policy rules select on.

Moves a robot

Inputs

Field	Type	Description
target	string	Where the arm is: sim for the simulator. The workspace's default when omitted.
approach	number	How high above the cube the jaws arrive before coming down, metres.
carry	number	How high the cube is carried, metres above the table.
release	number	How high above the tray floor the jaws open, metres.
speed	number	The tool's path speed for every move, metres per second.

Outputs

Field	Type	Description
picked	string	The object the jaws closed on.
placed	object	Where the tool was when the jaws opened.
released	string	What the jaws held after opening: null when they let go.

Simulator proof

20 of 20 runs of the random-pose scenario succeeded, in MuJoCo 3.17.0 on Nov 3, 2026. The simulator counted no collisions.

The publisher ran these trials in IVYX Robotics and wrote the result onto this version before publishing it. The registry keeps the record; it runs nothing again. The target was the simulator, the only one extension-robotics drives today.

Tests

1 of 1 test cases passed on Nov 3, 2026, in the publisher's own environment, before this version was published. The registry keeps that record; it does not run the cases again.

Requires: extension-robotics

one-cube
In the simulator the left arm sets the red object on the handoff and the right arm puts it over the tray.
given
target sim
expects
picked equals cube