Hold the cube · xArm gripper

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.

1. 01
   Open the hand

   robotics.hand.pose

   takes

   target from the agent's input

   set

   behavior ivy.agent.hold-cube-xarm7-hand

   target sim

   pose open

   seconds 1

   Extension step
2. 02
   Close on the cube

   robotics.hand.pose

   takes

   target from the agent's input

   set

   behavior ivy.agent.hold-cube-xarm7-hand

   target sim

   pose power

   seconds 1.5

   returns

   held

   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-robotics0.13.0 or laterrobotics.hand.pose

Robot

hand

Written for

xarm7-hand

Joints

2

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.

Inputs

Outputs

Simulator proof

18 of 20 runs of the hold-cube 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

• holds

  In the simulator the hand closes on the cube and holds it.

  given

  target sim

  expects

  held equals cube