objects/coupling/grasp_recommendations.json

{
  "source_file": "coupling.step",
  "object_bounds": [
    -25.0,
    -25.0,
    -0.0,
    24.8113,
    25.0,
    50.0
  ],
  "best_grasp_strategy": {
    "method": "contour_grip",
    "gripper_type": "soft_gripper",
    "target_face_id": 0,
    "approach_direction": [
      0.0,
      0.0,
      1.0
    ],
    "confidence": 0.6,
    "reasoning": "最大曲面 (7546.6 mm²) 建议柔顺夹持"
  },
  "face_recommendations": [
    {
      "face_id": 0,
      "category_name": "FreeSurface",
      "geom_type": "CYLINDER",
      "area": 7546.640587,
      "grasp_method": "contour_grip",
      "gripper_type": "soft_gripper",
      "approach_direction": [
        0.0,
        0.0,
        1.0
      ],
      "grasp_point": [
        -0.09,
        0.0,
        25.0
      ],
      "confidence": 0.6,
      "notes": "曲面外表面，建议柔顺夹持"
    },
    {
      "face_id": 1,
      "category_name": "LateralPlane_Z",
      "geom_type": "PLANE",
      "area": 1877.856926,
      "grasp_method": "surface_grip",
      "gripper_type": "vacuum_cup_or_gecko",
      "approach_direction": [
        -0.0,
        -0.0,
        -1.0
      ],
      "grasp_point": [
        -0.09,
        0.0,
        25.0
      ],
      "confidence": 0.7,
      "notes": "Z向垂直平面，壁虎/真空吸附"
    },
    {
      "face_id": 2,
      "category_name": "Boss",
      "geom_type": "CYLINDER",
      "area": 373.559477,
      "grasp_method": "lateral_pinch",
      "gripper_type": "parallel_jaw",
      "approach_direction": [
        0.0,
        0.0,
        1.0
      ],
      "grasp_point": [
        -0.09,
        0.0,
        25.0
      ],
      "confidence": 0.8,
      "notes": "凸台特征，建议平行爪夹持"
    },
    {
      "face_id": 3,
      "category_name": "LateralPlane_Z",
      "geom_type": "PLANE",
      "area": 1877.856926,
      "grasp_method": "surface_grip",
      "gripper_type": "vacuum_cup_or_gecko",
      "approach_direction": [
        -0.0,
        -0.0,
        -1.0
      ],
      "grasp_point": [
        -0.09,
        0.0,
        25.0
      ],
      "confidence": 0.7,
      "notes": "Z向垂直平面，壁虎/真空吸附"
    },
    {
      "face_id": 4,
      "category_name": "Boss",
      "geom_type": "CYLINDER",
      "area": 1099.557429,
      "grasp_method": "lateral_pinch",
      "gripper_type": "parallel_jaw",
      "approach_direction": [
        0.0,
        0.0,
        1.0
      ],
      "grasp_point": [
        -0.09,
        0.0,
        25.0
      ],
      "confidence": 0.8,
      "notes": "凸台特征，建议平行爪夹持"
    },
    {
      "face_id": 5,
      "category_name": "ConcaveFeature_Hole",
      "geom_type": "CYLINDER",
      "area": 1099.557429,
      "grasp_method": "expansion_grip",
      "gripper_type": "expansion_gripper",
      "approach_direction": [
        0.0,
        0.0,
        1.0
      ],
      "grasp_point": [
        -0.09,
        0.0,
        25.0
      ],
      "confidence": 0.9,
      "notes": "凹入孔特征，建议膨胀夹持"
    }
  ],
  "grasp_method_summary": {
    "contour_grip": {
      "face_count": 1,
      "total_area": 7546.64
    },
    "surface_grip": {
      "face_count": 2,
      "total_area": 3755.71
    },
    "lateral_pinch": {
      "face_count": 2,
      "total_area": 1473.12
    },
    "expansion_grip": {
      "face_count": 1,
      "total_area": 1099.56
    }
  }
}