Overview

A complete simulation pipeline for autonomous fruit harvesting using a UR10 manipulator in Gazebo.

The system integrates perception, motion planning, and task orchestration into a deterministic workflow.

System Architecture

  • UR10 robot model with custom orchard environment
  • YOLO-based apple detection
  • 3D pose estimation from RGB camera stream
  • MoveIt 2 motion planning with collision avoidance
  • State machine driven task planning
  • Pick → place execution pipeline

Engineering Focus

  • Clean separation between perception and control layers
  • Robust collision checking within cluttered tree environment
  • Deterministic task sequencing
  • Simulation-first validation for deployment readiness

Outcome

A full-stack manipulation system demonstrating perception-to-action autonomy in a constrained agricultural scenario.