| { | |
| "source_file": "hex_bolt.step", | |
| "object_bounds": [ | |
| -9.0, | |
| -7.7942, | |
| 0.0, | |
| 9.0, | |
| 7.7942, | |
| 47.0 | |
| ], | |
| "best_grasp_strategy": { | |
| "method": "lateral_pinch", | |
| "gripper_type": "parallel_jaw", | |
| "target_face_id": 11, | |
| "approach_direction": [ | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ], | |
| "confidence": 0.8, | |
| "reasoning": "凸台 (半径 5.0mm, 面积 1209.5 mm²) 适合平行爪夹持" | |
| }, | |
| "face_recommendations": [ | |
| { | |
| "face_id": 0, | |
| "category_name": "NearLateral_X", | |
| "geom_type": "PLANE", | |
| "area": 56.25, | |
| "grasp_method": "surface_grip", | |
| "gripper_type": "vacuum_cup_or_gecko", | |
| "approach_direction": [ | |
| -0.866, | |
| -0.5, | |
| 0.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 23.5 | |
| ], | |
| "confidence": 0.65, | |
| "notes": "近X向垂直面，壁虎/真空吸附" | |
| }, | |
| { | |
| "face_id": 1, | |
| "category_name": "NearLateral_X", | |
| "geom_type": "PLANE", | |
| "area": 56.25, | |
| "grasp_method": "surface_grip", | |
| "gripper_type": "vacuum_cup_or_gecko", | |
| "approach_direction": [ | |
| 0.866, | |
| -0.5, | |
| -0.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 23.5 | |
| ], | |
| "confidence": 0.65, | |
| "notes": "近X向垂直面，壁虎/真空吸附" | |
| }, | |
| { | |
| "face_id": 2, | |
| "category_name": "NearLateral_Z", | |
| "geom_type": "PLANE", | |
| "area": 9.086662, | |
| "grasp_method": "surface_grip", | |
| "gripper_type": "vacuum_cup_or_gecko", | |
| "approach_direction": [ | |
| -0.6124, | |
| -0.3536, | |
| 0.7071 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 23.5 | |
| ], | |
| "confidence": 0.33, | |
| "notes": "近Z向垂直面，壁虎/真空吸附" | |
| }, | |
| { | |
| "face_id": 3, | |
| "category_name": "LateralPlane_Z", | |
| "geom_type": "PLANE", | |
| "area": 131.904357, | |
| "grasp_method": "surface_grip", | |
| "gripper_type": "vacuum_cup_or_gecko", | |
| "approach_direction": [ | |
| -0.0, | |
| -0.0, | |
| -1.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 23.5 | |
| ], | |
| "confidence": 0.7, | |
| "notes": "Z向垂直平面，壁虎/真空吸附" | |
| }, | |
| { | |
| "face_id": 4, | |
| "category_name": "HorizontalPlane", | |
| "geom_type": "PLANE", | |
| "area": 56.25, | |
| "grasp_method": "vacuum_grip", | |
| "gripper_type": "vacuum_cup", | |
| "approach_direction": [ | |
| -0.0, | |
| -1.0, | |
| 0.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 23.5 | |
| ], | |
| "confidence": 0.7, | |
| "notes": "水平平面，适合真空吸附" | |
| }, | |
| { | |
| "face_id": 5, | |
| "category_name": "HorizontalPlane", | |
| "geom_type": "PLANE", | |
| "area": 56.25, | |
| "grasp_method": "vacuum_grip", | |
| "gripper_type": "vacuum_cup", | |
| "approach_direction": [ | |
| -0.0, | |
| -1.0, | |
| 0.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 23.5 | |
| ], | |
| "confidence": 0.7, | |
| "notes": "水平平面，适合真空吸附" | |
| }, | |
| { | |
| "face_id": 6, | |
| "category_name": "NearLateral_Z", | |
| "geom_type": "PLANE", | |
| "area": 9.086662, | |
| "grasp_method": "surface_grip", | |
| "gripper_type": "vacuum_cup_or_gecko", | |
| "approach_direction": [ | |
| 0.6124, | |
| -0.3536, | |
| -0.7071 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 23.5 | |
| ], | |
| "confidence": 0.33, | |
| "notes": "近Z向垂直面，壁虎/真空吸附" | |
| }, | |
| { | |
| "face_id": 7, | |
| "category_name": "LateralPlane_Z", | |
| "geom_type": "PLANE", | |
| "area": 171.89273, | |
| "grasp_method": "surface_grip", | |
| "gripper_type": "vacuum_cup_or_gecko", | |
| "approach_direction": [ | |
| -0.0, | |
| -0.0, | |
| -1.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 23.5 | |
| ], | |
| "confidence": 0.7, | |
| "notes": "Z向垂直平面，壁虎/真空吸附" | |
| }, | |
| { | |
| "face_id": 8, | |
| "category_name": "NearHorizontal", | |
| "geom_type": "PLANE", | |
| "area": 9.086662, | |
| "grasp_method": "vacuum_grip", | |
| "gripper_type": "vacuum_cup", | |
| "approach_direction": [ | |
| -0.0, | |
| -0.7071, | |
| 0.7071 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 23.5 | |
| ], | |
| "confidence": 0.35, | |
| "notes": "近水平面，可真空吸附" | |
| }, | |
| { | |
| "face_id": 9, | |
| "category_name": "NearLateral_X", | |
| "geom_type": "PLANE", | |
| "area": 56.25, | |
| "grasp_method": "surface_grip", | |
| "gripper_type": "vacuum_cup_or_gecko", | |
| "approach_direction": [ | |
| 0.866, | |
| -0.5, | |
| 0.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 23.5 | |
| ], | |
| "confidence": 0.65, | |
| "notes": "近X向垂直面，壁虎/真空吸附" | |
| }, | |
| { | |
| "face_id": 10, | |
| "category_name": "NearLateral_X", | |
| "geom_type": "PLANE", | |
| "area": 56.25, | |
| "grasp_method": "surface_grip", | |
| "gripper_type": "vacuum_cup_or_gecko", | |
| "approach_direction": [ | |
| -0.866, | |
| -0.5, | |
| 0.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 23.5 | |
| ], | |
| "confidence": 0.65, | |
| "notes": "近X向垂直面，壁虎/真空吸附" | |
| }, | |
| { | |
| "face_id": 11, | |
| "category_name": "Boss", | |
| "geom_type": "CYLINDER", | |
| "area": 1209.513172, | |
| "grasp_method": "lateral_pinch", | |
| "gripper_type": "parallel_jaw", | |
| "approach_direction": [ | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 23.5 | |
| ], | |
| "confidence": 0.8, | |
| "notes": "凸台特征，建议平行爪夹持" | |
| }, | |
| { | |
| "face_id": 12, | |
| "category_name": "NearHorizontal", | |
| "geom_type": "PLANE", | |
| "area": 9.086662, | |
| "grasp_method": "vacuum_grip", | |
| "gripper_type": "vacuum_cup", | |
| "approach_direction": [ | |
| -0.0, | |
| -0.7071, | |
| -0.7071 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 23.5 | |
| ], | |
| "confidence": 0.35, | |
| "notes": "近水平面，可真空吸附" | |
| }, | |
| { | |
| "face_id": 13, | |
| "category_name": "NearLateral_Z", | |
| "geom_type": "PLANE", | |
| "area": 9.086662, | |
| "grasp_method": "surface_grip", | |
| "gripper_type": "vacuum_cup_or_gecko", | |
| "approach_direction": [ | |
| 0.6124, | |
| -0.3536, | |
| 0.7071 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 23.5 | |
| ], | |
| "confidence": 0.33, | |
| "notes": "近Z向垂直面，壁虎/真空吸附" | |
| }, | |
| { | |
| "face_id": 14, | |
| "category_name": "NearLateral_Z", | |
| "geom_type": "PLANE", | |
| "area": 9.086662, | |
| "grasp_method": "surface_grip", | |
| "gripper_type": "vacuum_cup_or_gecko", | |
| "approach_direction": [ | |
| -0.6124, | |
| -0.3536, | |
| -0.7071 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 23.5 | |
| ], | |
| "confidence": 0.33, | |
| "notes": "近Z向垂直面，壁虎/真空吸附" | |
| }, | |
| { | |
| "face_id": 15, | |
| "category_name": "Chamfer", | |
| "geom_type": "CONE", | |
| "area": 56.646757, | |
| "grasp_method": "edge_grip", | |
| "gripper_type": "parallel_jaw", | |
| "approach_direction": [ | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 23.5 | |
| ], | |
| "confidence": 0.5, | |
| "notes": "倒角边缘，建议边缘夹持" | |
| }, | |
| { | |
| "face_id": 16, | |
| "category_name": "LateralPlane_Z", | |
| "geom_type": "PLANE", | |
| "area": 38.48451, | |
| "grasp_method": "surface_grip", | |
| "gripper_type": "vacuum_cup_or_gecko", | |
| "approach_direction": [ | |
| -0.0, | |
| -0.0, | |
| -1.0 | |
| ], | |
| "grasp_point": [ | |
| 0.0, | |
| 0.0, | |
| 23.5 | |
| ], | |
| "confidence": 0.7, | |
| "notes": "Z向垂直平面，壁虎/真空吸附" | |
| } | |
| ], | |
| "grasp_method_summary": { | |
| "surface_grip": { | |
| "face_count": 11, | |
| "total_area": 603.63 | |
| }, | |
| "vacuum_grip": { | |
| "face_count": 4, | |
| "total_area": 130.67 | |
| }, | |
| "lateral_pinch": { | |
| "face_count": 1, | |
| "total_area": 1209.51 | |
| }, | |
| "edge_grip": { | |
| "face_count": 1, | |
| "total_area": 56.65 | |
| } | |
| } | |
| } |