Build simple simulation robotics packaging system using CoppeliaSim (v-rep) and Matlab

I need a project (development and simulation) with Coppeliasim (v-rep) + Matlab, the project consists in this: I have two conveyor belts (A and B), on A there are some objects (even simple cubes), in B there are some cardboard boxes (I can provide the ready shape), in the middle between the two conveyor belts there is a robotic arm that lifts one by one the cubes, and puts them inside the boxes. Each box can contain 4 cubes, when a box is full, the conveyor belt B goes forward in order to get an empty box, while A goes forward every time the robotic arm takes an object (so you have a new object to pack). I need something like in attached image.