Adaptive AgroTech logoAdaptive AgroTechAGRICULTURAL ROBOTICS LAB
INTERACTIVE SIMULATION
ORCHARD ROBOTICS / 04

Pruning Studio.

See the branch. Understand the decision. Watch the cut.

Dormant orchard · selective pruningUR10e arm  ·  Custom shear  ·  Six-axis pose control
3D orchard workspace
Preparing your orchardLoading the robot and branch model…
READY TO EXPLORE

Select a highlighted branch to inspect it.

ProtectedCandidateSelected
Drag to orbit · Scroll to zoom · Click a branch
TOOL POSITION X / Y / Z—m · vertical axis Y
PLAN STATUSSelect a branchMotion checked before execution
CUTS COMPLETED0 / 6Scaffold limbs retained
1 Inspect2 Approach3 Cut4 Retract
Ready when you are.0.0 s
INSPECT & SELECT

Every cut has a reason.

Choose a branch below or directly in the 3D scene.

01 / INPUT

A known branch model

Explore branch position, diameter and structure in a simulated dormant tree.

02 / DECISION

Explain each proposed cut

Compare example pruning strategies while keeping the main structure intact.

03 / OUTPUT

A reachable cutting motion

Inspect the approach, tool pose and remaining canopy before running the sequence.

PRUNING STUDIO

From branch to robot motion.

Start with Demonstrate strategy to watch the selected set of cuts. Or click any candidate branch to explore one decision at a time.

  1. Inspect: choose a branch. Its reason and diameter appear in the planner.
  2. Preview: the robot performs its approach and retracts; the tree stays intact.
  3. Cut: run the selected cut to close the shears and remove the branch.
  4. Compare: switch between Before and Current to see what changed.

Drag to orbit, scroll to zoom, and use Tool view for a closer look. Space pauses or resumes; R resets the orchard. The playback slider changes animation speed.
MODEL NOTES

A transparent simulation.

This is a demonstration of branch selection and robot motion. The scene contains a known synthetic tree; the inspection animation does not reconstruct a real tree or use a live camera.

Pruning: the candidate labels and Light / Balanced / Strong groups are illustrative rules for this example tree. They are not validated horticultural recommendations. Branches are rigid; the falling animation does not model cutting force or wood fracture.

Robot: detailed UR10e meshes and nominal joint geometry come from Universal Robots’ ROS 2 description. The pruning shear and camera mount are custom demonstration tools. This independent simulator is not affiliated with Universal Robots.

Planning: six-axis numerical inverse kinematics constrains position and orientation. Sampled paths are checked against capsules for arm links, tool parts, trunk, main branches and trellis wires, including non-adjacent arm links. Fine twigs and buds are visual only. Clearance values apply only to those approximations; they are not hardware safety guarantees. Factory calibration, flexible branches, dynamics and real perception are outside the model.

Coordinates: values are in metres. The 3D scene uses Y as its vertical axis. Playback time is simulated, not a measured field cycle.

Third-party notices
PRUNING STUDIO — 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.