Adaptive AgroTechAGRICULTURAL ROBOTICS
INTERACTIVE 3D SIMULATION
POSTHARVEST AUTOMATION / LIVE LAB

Fruit Grading & Packing

Inspect each apple. Explain the decision. Place it gently.

From inspection to a packed trayMachine vision concept · UR10e · Conveyor tracking
Packing cell / 3D
Preparing your packing cellLoading the robot, conveyor and fruit models…
READY TO RUN

Start the line to follow an apple from inspection to packing.

Pack Quality review Missed pickDrag to orbit · Scroll to zoom · Click an apple
01 Inspect02 Track & pick03 Transfer04 Pack
Waiting for a graded appleSix-axis pose control
00:00
▦
PACKED0

Tray 1 · 0 of 12 filled

◇
QUALITY REVIEW0

Size or visible blemish outside limits

Manual review bin
↗
MISSED PICKS0

Eligible apples not picked in time

Manual review bin
FOLLOW THE PROCESS

Every apple has a destination.

AppleDiameterBlemishDecisionDestination / status

Latest 6 apples · decisions use the limits active at inspection.

TRY THIS

Faster is not always better.

Switch to Capacity test. The conveyor keeps moving while the robot completes a pick. An eligible apple that leaves the picking window goes to manual review.

Fruit arrival interval8.0 s
Last robot cycle—

Cycle times and throughput are simulation outputs, not measured equipment performance.

YOUR EXHIBITION DEMO

From moving fruit to a packed tray.

  1. Run the line. The camera grades each apple. The arm tracks and lifts eligible fruit with its soft suction cup.
  2. Change the decision. Adjust diameter and visible-blemish limits, or introduce a blemished test apple.
  3. Challenge capacity. Choose Capacity test and watch eligible fruit miss the robot’s picking window.
  4. Show the detail. Orbit and zoom, switch camera views, or click an apple to inspect its recorded decision.

A full tray pauses the line. Select Replace tray, or enable Auto tray exchange for a continuous exhibition. Tray exchange represents a separate operator task.

Keyboard: Space runs or pauses. R resets. F switches exhibition view. Esc exits dialogs or fullscreen. Pausing freezes both conveyor and robot.
MODEL NOTES

Practical process. Transparent model.

Inspection: fruit dimensions and visible blemish percentages are synthetic inputs. The illustrated camera does not process live images or inspect hidden surfaces. Thresholds are recorded when an apple passes inspection; changing them affects future inspections.

Handling: the model uses a known conveyor speed and nominal six-axis UR10e kinematics. Continuous position and downward tool orientation are solved for the picking and placing paths. The suction attachment is an idealized rigid connection; vacuum sealing, bruising, compliant contact and dynamics are not simulated.

Capacity: accepted apples may miss their picking window while the robot is busy. Those apples and quality rejects continue to a manual-review bin. Counts change on arrival, and tray positions are reserved before each pick. Speed changes wait until the current robot cycle ends.

Tray exchange: a full tray stops conveyor feeding. Replacement is an illustrative operator action; auto exchange allows an unattended demonstration.

Robot model: original UR10e visual meshes and nominal chain from Universal Robots’ ROS 2 description, with a custom demonstration suction tool. This independent simulator is not affiliated with Universal Robots and does not control hardware. Simplified geometric checks are not a physical safety assessment.

Third-party notices
FRUIT GRADING & PACKING — THIRD-PARTY NOTICES

Three.js r128 and OrbitControls
https://github.com/mrdoob/three.js
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UR10e visual meshes and nominal kinematic description
Source: UniversalRobots/Universal_Robots_ROS2_Description
https://github.com/UniversalRobots/Universal_Robots_ROS2_Description
Original meshes converted into indexed geometry for this offline application.
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pako inflate
Copyright (C) 2014-2017 Vitaly Puzrin and Andrei Tuputcyn.
MIT license; full notice embedded with the mesh bundle in index.html.

Adaptive AgroTech logo: original supplied PNG, embedded without modification.
This simulator is independent of Universal Robots and is not a controller for physical equipment.