Despite of the technological advancement that mankind is experiencing, there are numerous companies where some workers are still employed for alienating, repetitive and unsatisfying tasks. In the hope of giving these people a new, more rewarding job prospect, a software program has been developed to automate the process of apple packing. The state of the art in industrial automation in this context is limited to the use of an additional secondary roller, which picks up the fruit individually in order to make it easier to hook. The current project, on the other hand, is innovative in several respects: firstly, it aims at not using additional mechanical supports besides the robot itself, thus increasing the adaptability of the robotic system.