Fig. 2: The raspberry physical twin setup and its schematic.

a The physical twin setup, comprised of the fruit and the plant. The fruit is hung from a load cell connected by a curved piece of 3D printed TPU, which represents the plant. b Dominant forces and characteristic dynamics which affect the harvesting of the fruit. The compression and pulling forces (F_c and F_p) are identified as dominant forces. \({F}_{p,\max }\), k_on, k_off, k_plant, and d_plant are identified as key dynamics. c Detailed schematic, rendering, and image of the physical twin.