| { | |
| "source_file": "bearing_medium.step", | |
| "object_bounds": [ | |
| -30.0, | |
| -20.0, | |
| -15.0, | |
| 30.0, | |
| 20.0, | |
| 15.0 | |
| ], | |
| "best_grasp_strategy": { | |
| "method": "lateral_pinch", | |
| "gripper_type": "parallel_jaw", | |
| "target_face_id": 20, | |
| "approach_direction": [ | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ], | |
| "confidence": 0.8, | |
| "reasoning": "凸台 (半径 15.0mm, 面积 2827.4 mm²) 适合平行爪夹持" | |
| }, | |
| "face_recommendations": [ | |
| { | |
| "face_id": 0, | |
| "category_name": "LateralPlane_X", | |
| "geom_type": "PLANE", | |
| "area": 918.0, | |
| "grasp_method": "surface_grip", | |
| "gripper_type": "vacuum_cup_or_gecko", | |
| "approach_direction": [ | |
| -1.0, | |
| -0.0, | |
| -0.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.7, | |
| "notes": "X向垂直平面，壁虎/真空吸附" | |
| }, | |
| { | |
| "face_id": 1, | |
| "category_name": "ConvexFeature_Bolt", | |
| "geom_type": "CYLINDER", | |
| "area": 127.234502, | |
| "grasp_method": "lateral_pinch", | |
| "gripper_type": "parallel_jaw", | |
| "approach_direction": [ | |
| -0.0, | |
| -0.0, | |
| -1.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.8, | |
| "notes": "凸起特征，建议平行爪夹持" | |
| }, | |
| { | |
| "face_id": 2, | |
| "category_name": "ConcaveFeature_Hole", | |
| "geom_type": "CYLINDER", | |
| "area": 80.110613, | |
| "grasp_method": "expansion_grip", | |
| "gripper_type": "expansion_gripper", | |
| "approach_direction": [ | |
| 0.0, | |
| 1.0, | |
| 0.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.6, | |
| "notes": "凹入孔特征，建议膨胀夹持" | |
| }, | |
| { | |
| "face_id": 3, | |
| "category_name": "ConvexFeature_Bolt", | |
| "geom_type": "CYLINDER", | |
| "area": 80.110613, | |
| "grasp_method": "lateral_pinch", | |
| "gripper_type": "parallel_jaw", | |
| "approach_direction": [ | |
| 0.0, | |
| 1.0, | |
| 0.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.5, | |
| "notes": "凸起特征，建议平行爪夹持" | |
| }, | |
| { | |
| "face_id": 4, | |
| "category_name": "ConcaveFeature_Hole", | |
| "geom_type": "CYLINDER", | |
| "area": 127.234502, | |
| "grasp_method": "expansion_grip", | |
| "gripper_type": "expansion_gripper", | |
| "approach_direction": [ | |
| -0.0, | |
| -0.0, | |
| -1.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.9, | |
| "notes": "凹入孔特征，建议膨胀夹持" | |
| }, | |
| { | |
| "face_id": 5, | |
| "category_name": "FreeSurface", | |
| "geom_type": "TORUS", | |
| "area": 9.085944, | |
| "grasp_method": "contour_grip", | |
| "gripper_type": "soft_gripper", | |
| "approach_direction": [ | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.3, | |
| "notes": "曲面外表面，建议柔顺夹持" | |
| }, | |
| { | |
| "face_id": 6, | |
| "category_name": "FreeSurface", | |
| "geom_type": "TORUS", | |
| "area": 9.085944, | |
| "grasp_method": "contour_grip", | |
| "gripper_type": "soft_gripper", | |
| "approach_direction": [ | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.3, | |
| "notes": "曲面外表面，建议柔顺夹持" | |
| }, | |
| { | |
| "face_id": 7, | |
| "category_name": "HorizontalPlane", | |
| "geom_type": "PLANE", | |
| "area": 1458.0, | |
| "grasp_method": "vacuum_grip", | |
| "gripper_type": "vacuum_cup", | |
| "approach_direction": [ | |
| -0.0, | |
| -1.0, | |
| -0.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.95, | |
| "notes": "水平平面，适合真空吸附" | |
| }, | |
| { | |
| "face_id": 8, | |
| "category_name": "FreeSurface", | |
| "geom_type": "TORUS", | |
| "area": 9.085944, | |
| "grasp_method": "contour_grip", | |
| "gripper_type": "soft_gripper", | |
| "approach_direction": [ | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.3, | |
| "notes": "曲面外表面，建议柔顺夹持" | |
| }, | |
| { | |
| "face_id": 9, | |
| "category_name": "LateralPlane_Z", | |
| "geom_type": "PLANE", | |
| "area": 1400.210236, | |
| "grasp_method": "surface_grip", | |
| "gripper_type": "vacuum_cup_or_gecko", | |
| "approach_direction": [ | |
| -0.0, | |
| -0.0, | |
| -1.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.7, | |
| "notes": "Z向垂直平面，壁虎/真空吸附" | |
| }, | |
| { | |
| "face_id": 10, | |
| "category_name": "FreeSurface", | |
| "geom_type": "TORUS", | |
| "area": 9.085944, | |
| "grasp_method": "contour_grip", | |
| "gripper_type": "soft_gripper", | |
| "approach_direction": [ | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.3, | |
| "notes": "曲面外表面，建议柔顺夹持" | |
| }, | |
| { | |
| "face_id": 11, | |
| "category_name": "LateralPlane_Z", | |
| "geom_type": "PLANE", | |
| "area": 1349.944754, | |
| "grasp_method": "surface_grip", | |
| "gripper_type": "vacuum_cup_or_gecko", | |
| "approach_direction": [ | |
| -0.0, | |
| -0.0, | |
| -1.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.7, | |
| "notes": "Z向垂直平面，壁虎/真空吸附" | |
| }, | |
| { | |
| "face_id": 12, | |
| "category_name": "HorizontalPlane", | |
| "geom_type": "PLANE", | |
| "area": 1458.0, | |
| "grasp_method": "vacuum_grip", | |
| "gripper_type": "vacuum_cup", | |
| "approach_direction": [ | |
| -0.0, | |
| -1.0, | |
| -0.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.95, | |
| "notes": "水平平面，适合真空吸附" | |
| }, | |
| { | |
| "face_id": 13, | |
| "category_name": "ConcaveFeature_Hole", | |
| "geom_type": "CYLINDER", | |
| "area": 127.234502, | |
| "grasp_method": "expansion_grip", | |
| "gripper_type": "expansion_gripper", | |
| "approach_direction": [ | |
| -1.0, | |
| -0.0, | |
| -0.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.6, | |
| "notes": "凹入孔特征，建议膨胀夹持" | |
| }, | |
| { | |
| "face_id": 14, | |
| "category_name": "ConvexFeature_Bolt", | |
| "geom_type": "CYLINDER", | |
| "area": 127.234502, | |
| "grasp_method": "lateral_pinch", | |
| "gripper_type": "parallel_jaw", | |
| "approach_direction": [ | |
| -1.0, | |
| -0.0, | |
| -0.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.5, | |
| "notes": "凸起特征，建议平行爪夹持" | |
| }, | |
| { | |
| "face_id": 15, | |
| "category_name": "ConvexFeature_Bolt", | |
| "geom_type": "CYLINDER", | |
| "area": 127.234502, | |
| "grasp_method": "lateral_pinch", | |
| "gripper_type": "parallel_jaw", | |
| "approach_direction": [ | |
| -0.0, | |
| -0.0, | |
| -1.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.8, | |
| "notes": "凸起特征，建议平行爪夹持" | |
| }, | |
| { | |
| "face_id": 16, | |
| "category_name": "ConcaveFeature_Hole", | |
| "geom_type": "CYLINDER", | |
| "area": 127.234502, | |
| "grasp_method": "expansion_grip", | |
| "gripper_type": "expansion_gripper", | |
| "approach_direction": [ | |
| 1.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.6, | |
| "notes": "凹入孔特征，建议膨胀夹持" | |
| }, | |
| { | |
| "face_id": 17, | |
| "category_name": "FreeSurface", | |
| "geom_type": "TORUS", | |
| "area": 9.085944, | |
| "grasp_method": "contour_grip", | |
| "gripper_type": "soft_gripper", | |
| "approach_direction": [ | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.3, | |
| "notes": "曲面外表面，建议柔顺夹持" | |
| }, | |
| { | |
| "face_id": 18, | |
| "category_name": "ConcaveFeature_Hole", | |
| "geom_type": "CYLINDER", | |
| "area": 80.110613, | |
| "grasp_method": "expansion_grip", | |
| "gripper_type": "expansion_gripper", | |
| "approach_direction": [ | |
| -0.0, | |
| -1.0, | |
| -0.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.6, | |
| "notes": "凹入孔特征，建议膨胀夹持" | |
| }, | |
| { | |
| "face_id": 19, | |
| "category_name": "FreeSurface", | |
| "geom_type": "TORUS", | |
| "area": 9.085944, | |
| "grasp_method": "contour_grip", | |
| "gripper_type": "soft_gripper", | |
| "approach_direction": [ | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.3, | |
| "notes": "曲面外表面，建议柔顺夹持" | |
| }, | |
| { | |
| "face_id": 20, | |
| "category_name": "Boss", | |
| "geom_type": "CYLINDER", | |
| "area": 2827.433388, | |
| "grasp_method": "lateral_pinch", | |
| "gripper_type": "parallel_jaw", | |
| "approach_direction": [ | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.8, | |
| "notes": "凸台特征，建议平行爪夹持" | |
| }, | |
| { | |
| "face_id": 21, | |
| "category_name": "ConvexFeature_Bolt", | |
| "geom_type": "CYLINDER", | |
| "area": 127.234502, | |
| "grasp_method": "lateral_pinch", | |
| "gripper_type": "parallel_jaw", | |
| "approach_direction": [ | |
| 1.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.5, | |
| "notes": "凸起特征，建议平行爪夹持" | |
| }, | |
| { | |
| "face_id": 22, | |
| "category_name": "FreeSurface", | |
| "geom_type": "TORUS", | |
| "area": 9.085944, | |
| "grasp_method": "contour_grip", | |
| "gripper_type": "soft_gripper", | |
| "approach_direction": [ | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.3, | |
| "notes": "曲面外表面，建议柔顺夹持" | |
| }, | |
| { | |
| "face_id": 23, | |
| "category_name": "ConvexFeature_Bolt", | |
| "geom_type": "CYLINDER", | |
| "area": 80.110613, | |
| "grasp_method": "lateral_pinch", | |
| "gripper_type": "parallel_jaw", | |
| "approach_direction": [ | |
| -0.0, | |
| -1.0, | |
| -0.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.5, | |
| "notes": "凸起特征，建议平行爪夹持" | |
| }, | |
| { | |
| "face_id": 24, | |
| "category_name": "FreeSurface", | |
| "geom_type": "TORUS", | |
| "area": 9.085944, | |
| "grasp_method": "contour_grip", | |
| "gripper_type": "soft_gripper", | |
| "approach_direction": [ | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.3, | |
| "notes": "曲面外表面，建议柔顺夹持" | |
| }, | |
| { | |
| "face_id": 25, | |
| "category_name": "Boss", | |
| "geom_type": "CYLINDER", | |
| "area": 452.389342, | |
| "grasp_method": "lateral_pinch", | |
| "gripper_type": "parallel_jaw", | |
| "approach_direction": [ | |
| -0.0, | |
| -0.0, | |
| -1.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.8, | |
| "notes": "凸台特征，建议平行爪夹持" | |
| }, | |
| { | |
| "face_id": 26, | |
| "category_name": "ConcaveFeature_Hole", | |
| "geom_type": "CYLINDER", | |
| "area": 127.234502, | |
| "grasp_method": "expansion_grip", | |
| "gripper_type": "expansion_gripper", | |
| "approach_direction": [ | |
| -0.0, | |
| -0.0, | |
| -1.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.9, | |
| "notes": "凹入孔特征，建议膨胀夹持" | |
| }, | |
| { | |
| "face_id": 27, | |
| "category_name": "LateralPlane_X", | |
| "geom_type": "PLANE", | |
| "area": 918.0, | |
| "grasp_method": "surface_grip", | |
| "gripper_type": "vacuum_cup_or_gecko", | |
| "approach_direction": [ | |
| -1.0, | |
| -0.0, | |
| -0.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.7, | |
| "notes": "X向垂直平面，壁虎/真空吸附" | |
| }, | |
| { | |
| "face_id": 28, | |
| "category_name": "LateralPlane_Z", | |
| "geom_type": "PLANE", | |
| "area": 50.265482, | |
| "grasp_method": "surface_grip", | |
| "gripper_type": "vacuum_cup_or_gecko", | |
| "approach_direction": [ | |
| -0.0, | |
| -0.0, | |
| -1.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "confidence": 0.7, | |
| "notes": "Z向垂直平面，壁虎/真空吸附" | |
| } | |
| ], | |
| "grasp_method_summary": { | |
| "surface_grip": { | |
| "face_count": 5, | |
| "total_area": 4636.42 | |
| }, | |
| "lateral_pinch": { | |
| "face_count": 8, | |
| "total_area": 3948.98 | |
| }, | |
| "expansion_grip": { | |
| "face_count": 6, | |
| "total_area": 669.16 | |
| }, | |
| "contour_grip": { | |
| "face_count": 8, | |
| "total_area": 72.69 | |
| }, | |
| "vacuum_grip": { | |
| "face_count": 2, | |
| "total_area": 2916.0 | |
| } | |
| } | |
| } |