{
  "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
    }
  }
}