Our software is not limited by crop shape as it goes for the peduncle directly. Crop detection is indeed part of the process as well to estimate the ripeness level. We support different types of tomatoes and grapes today as cutting leaves is a common practice for most of these types. However, our next-generation software will look behind the leaves and thus unlocks harvest automation with a high success rate for many other crops including cucumber, pepper bell, and eggplants.