TECHNICAL FIELD

The present disclosure is directed, in general, to computer-aided design (CAD), computer-aided manufacturing (CAM), computer-aided engineering (CAE), visualization, simulation, and manufacturing systems, product data management (PDM) systems, product lifecycle management (PLM) systems, and similar systems, that are used to create, use, and manage data for products and other items (collectively referred to herein as product systems).

BACKGROUND

Product systems may be used to simulate manufacturing systems and processes. Such systems may benefit from improvements.

SUMMARY

Variously disclosed embodiments include data processing systems and methods that may be used to facilitate determining grasping positions for two-handed grasps of industrial objects. In one example, a system may comprise at least one processor configured to determine a three dimensional (3D) voxel grid for a 3D model of a target object. The at least one processor may also be configured to determine at least one pair of spaced apart grasping positions on the target object at which the target object is capable of being grasped with two hands at the same time based on processing the 3D voxel grid for the target object with a neural network trained to determine grasping positions for two-handed grasps of target objects using training data. Such training data may include 3D voxel grids of a plurality of 3D models of training objects and grasping data including corresponding pairs of spaced-apart grasping positions for two-handed grasps of the training objects. In addition, the at least one processor may be configured to provide output data that specifies the determined grasping positions on the target object for two-handed grasps.

In another example, a method for predicting hand positions for two-hand grasps of industrial objects may comprise several acts carried out through operation of at least one processor that correspond to the functions for which the previously described at least one processor is configured to carry out.

A further example may include a non-transitory computer readable medium encoded with executable instructions (such as a software component on a storage device) that when executed, causes at least one processor to carry out this described method.

Another example may include a product or apparatus including at least one hardware, software, and/or firmware based processor, computer, component, controller, means, module, and/or unit configured for carrying out functionality corresponding to this described method.

The foregoing has outlined rather broadly the technical features of the present disclosure so that those skilled in the art may better understand the detailed description that follows. Additional features and advantages of the disclosure will be described hereinafter that form the subject of the claims. Those skilled in the art will appreciate that they may readily use the conception and the specific embodiments disclosed as a basis for modifying or designing other structures for carrying out the same purposes of the present disclosure. Those skilled in the art will also realize that such equivalent constructions do not depart from the spirit and scope of the disclosure in its broadest form.

Also, before undertaking the Detailed Description below, it should be understood that various definitions for certain words and phrases are provided throughout this patent document, and those of ordinary skill in the art will understand that such definitions apply in many, if not most, instances to prior as well as future uses of such defined words and phrases. While some terms may include a wide variety of embodiments, the appended claims may expressly limit these terms to specific embodiments.

