Task 3A: UR7e Arm and Ore Sorting and Package Handover | e-Yantra StrataCobot 2026-27 | Team 3632

e-Yantra Robotics Competition (eYRC) 2026-27, StrataCobot theme, Stage 1, Task 3A, Team ID 3632. A complete evaluation run in ROS 2 Jazzy and Gazebo Sim, with the UR7e arm and the eBot working at the same time: The arm detects four ores with a RealSense-style camera and sorts them into the azurite, malachite and vanadinite containers. The eBot plans its path with A* on /map, collects the ore package from the drop pose and drives to the arm. The arm lifts the package off the eBot's deck with the magnetic tool and drops it in the ore crusher. The eBot then drives back home. Result: 28.19 / 30 (run score 46.09 / 50, all ores and the package detected and dropped, both eBot legs completed). Tech: ROS 2 Jazzy, Gazebo Sim, Python, OpenCV, TF2. No MoveIt or Nav2 was used.