{
  "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
    }
  }
}