Defect detection system with robotic arm

I need to be able to simulate a pick and place robotic arm that is integrated with an image processing system (camera) that is supposed to be able to detect defects on food. Preferably on CoppeliaSim Edu or WeBots. I have the CAD files for the robotic arm, I just need to be shown how to simulate it functioning picking up defected products from a production line and placing it elsewhere.