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IVYXSTUDIO · ROBOTICS
R

Red object → tray · xArm 7

ivy.agent.pick-place-xarm7 · v1.0.1

ivyx

Finds the red object in the scene, comes down on it from above, closes the jaws, lifts it, carries it over the tray and lets go. Every move 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.

  1. 01
    Find the red object
    robotics.scene.locate
    takes
    target from the agent's input
    set
    color red
    target sim
    Extension step
  2. 02
    A pose above the cube
    robotics.pose.offset
    takes
    pose from step 1
    dz from the agent's input, approach
    set
    dz 0.06
    Extension step
  3. 03
    Move above the cube
    robotics.arm.moveTo
    takes
    pose from step 2
    target from the agent's input
    speed from the agent's input
    set
    behavior ivy.agent.pick-place-xarm7
    speed 0.25
    target sim
    Extension step
  4. 04
    The grasp pose
    robotics.pose.offset
    takes
    pose from step 1
    set
    dz 0.01
    Extension step
  5. 05
    Come down on the cube
    robotics.arm.moveTo
    takes
    pose from step 4
    target from the agent's input
    set
    behavior ivy.agent.pick-place-xarm7
    speed 0.1
    target sim
    Extension step
  6. 06
    Close the jaws
    robotics.gripper.set
    takes
    target from the agent's input
    set
    behavior ivy.agent.pick-place-xarm7
    state close
    target sim
    returns
    picked
    Extension step
  7. 07
    A pose to lift to
    robotics.pose.offset
    takes
    pose from step 1
    dz from the agent's input, carry
    set
    dz 0.1
    Extension step
  8. 08
    Lift the cube
    robotics.arm.moveTo
    takes
    pose from step 7
    target from the agent's input
    speed from the agent's input
    set
    behavior ivy.agent.pick-place-xarm7
    speed 0.25
    target sim
    Extension step
  9. 09
    Find the tray
    robotics.scene.locate
    takes
    target from the agent's input
    set
    name tray
    target sim
    Extension step
  10. 10
    A pose over the tray
    robotics.pose.offset
    takes
    pose from step 9
    dz from the agent's input, carry
    set
    dz 0.1
    Extension step
  11. 11
    Carry it over the tray
    robotics.arm.moveTo
    takes
    pose from step 10
    target from the agent's input
    speed from the agent's input
    set
    behavior ivy.agent.pick-place-xarm7
    speed 0.25
    target sim
    Extension step
  12. 12
    A pose to let go from
    robotics.pose.offset
    takes
    pose from step 9
    dz from the agent's input, release
    set
    dz 0.05
    Extension step
  13. 13
    Lower into the tray
    robotics.arm.moveTo
    takes
    pose from step 12
    target from the agent's input
    set
    behavior ivy.agent.pick-place-xarm7
    speed 0.1
    target sim
    returns
    placed
    Extension step
  14. 14
    Open the jaws
    robotics.gripper.set
    takes
    target from the agent's input
    set
    behavior ivy.agent.pick-place-xarm7
    state open
    target sim
    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.

Robot
Arm
Written for
xarm7
Joints
5
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

FieldTypeDescription
targetstringWhere the arm is: sim for the simulator. The workspace's default when omitted.
approachnumberHow high above the cube the jaws arrive before coming down, metres.
carrynumberHow high the cube is carried, metres above the table.
releasenumberHow high above the tray floor the jaws open, metres.
speednumberThe tool's path speed for every move, metres per second.

Outputs

FieldTypeDescription
pickedstringThe object the jaws closed on.
placedobjectWhere the tool was when the jaws opened.
releasedstringWhat 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 1, 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 1, 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 jaws close on the red object and open over the tray.

    given
    target sim
    expects
    picked equals cube