EXPERIMENT 03 / SELECTIVE HARVESTING
Orchard Harvest Lab
Every fruit is a decision. Explore how ripeness, arm reach and mobile positioning shape a harvest.
◌ Kinematic simulation · 2-link manipulator
Orchard digital twin
SIDE ELEVATION
A selective harvest, one fruit at a time.Select any fruit to inspect it.
ORCHARD / PLOT AHarvest eligibleBelow thresholdOut of reach
READY
Start the mission to identify ripe fruit and plan the first pick.
Harvested fruit0 / 0 eligible0 fruit below ripeness threshold
Reach exclusions0 fruitAssessed during the survey
Mean pick cycle— s / fruitSelection to bin, incl. base motion
Base travel0.0 m0.0 s simulated time
Inside the experiment: what the robot is actually solving
01 · Select only eligible fruit
Ripeness is an assigned scenario value. The threshold filters the harvest; the strategy orders the remaining fruit. Click a fruit to inspect or queue it for the next cycle.
02 · Position, then solve the arm
The base travels on a level rail through the orchard. A two-link planar inverse-kinematics model checks the reachable annulus before every grasp. |L₁ − L₂| ≤ distance ≤ L₁ + L₂.
03 · Read the limits honestly
Fruit stays attached to the gripper until release into the bin. This model includes geometry and motion timing, but does not model occlusion, branch collisions, grasp forces or fruit damage. Results are simulated, not field measurements.