Companion Code to Paper: Sim2Fruit (IEEE SEIDS)

Sim2Fruit: Simulated and End-to-End Pipeline for Robotic Arm + RL

UNDER CONSTRUCTION CURRENTLY

git clone https://github.com/ronydahdal/sim2fruit.git
cd sim2fruit_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

ros2 launch sim2fruit_description mycobot_gazebo_minimal.launch.py

This spawns:

• MyCobot robot (frozen)
• A Pheno4D-derived plant model (static)

ros2 run sim2fruit_perception pointnet_node

ros2 run sim2fruit_perception dummy_policy_node

To convert PCD into a mesh for Gazebo (for plant models):

python3 pcd_conversion.py