The dynamics of fully nonlinear structure of six-component dusty cometary plasma system with the help of Sagdeev pseudo-potential techniques have been investigated. This plasma system is made up of Oxygen (positively and negatively charged) ion pair, negatively charged dust particles, and kappa distributed ions of Hydrogen, hot solar electrons and slightly colder cometary electrons. The linear analysis is carried out and the linear dispersion relation is obtained and investigated with some relevant plasma parameters. As a result, the velocities in the fluid equations are normalized to a general acoustic speed instead of the particular form of acoustic speed. Employing pseudo-potential approach, the basic equations of plasma system were reduced to a single nonlinear ordinary differential equation (energy-balance). By means of Sagdeev potential curves and bifurcation analysis of phase-portrait, the existence and propagation of nonlinear waves are examined. In addition to the periodic solution, it is shown that the localized negative and positive amplitude electrostatic pulses may (co-) exist and propagate in plasma system depending on the Mach number intervals. The impact of some intrinsic plasma parameters on the main features of the solitary wave electrostatic potential profile and the associated electrostatic field are extensively investigated. The results of this research are relevant to plasmas in both laboratory plasmas and exclusively in space plasmas as, comet tails, rings of giant planets, solar wind, interstellar clouds, etc.