Form Pallet Layer with Robot

Hi everyone,

I pretend to pick boxes (sometimes 2 simultaneously) with a scara robot and then place them in different points, so then the boxes can be transported linearly to form the layer.

What’s the best way to simulate this? I have struggles mainly on choosing to pick 1 or 2 boxes and on placing them in different positions.

Any help is very much appreciated.

There goes an image in order to get better to understand what’s needed: