Apple Harvesting with Leaf Manipulation in NVIDIA Isaac Sim

Описание: Physically challenging tasks, like pushing a leaf aside, are hard to deploy on real robots. This simulation demonstrates a robot policy that pushes the leaf away so the apple can be successfully harvested with the end-effector's suction cup. Deployed in NVIDIA Isaac Sim 5.1.0.

Robot specifications:
mobile robot: Clearpath Robotics Warthog
manipulator: UR10 with suction cup
motion generator: RMPflow