Failure categories 4 and 8 were also distinctively represented. Category 4 represents those cases in which cucumbers are partly hanging outside the field of view of the vision system. Fortunately, in those cases, no time was wasted on an actual harvest attempt either. The failures falling in category 8, i.e. obstruction of the motion path due to undetected objects, consisted in most cases of leaves hanging down from above the harvest region. These leaves had not been removed before the experiment.