Table 2.
Target objects
| Grasp ID | Object | Size of the back plane projection S × L [cm] | Mass [g] |
|---|---|---|---|
| PL | Cylinder | 10 × 18 | 650 |
| PL | Cylinder | 11 × 17 | 600 |
| PM | Big cup | 8 × 9 | 280 |
| PM | Big bottle | 8 × 25 | 550 |
| PS | Spray Can | 6 × 12 | 220 |
| PS | Small bottle | 6 × 22 | 480 |
| B | Rubber 1 | 1 × 1.5 | 10 |
| B | Rubber 2 | 1.5 × 3 | 15 |
| TS | Lego element | 3 × 5.5 | 10 |
| TS | Very small bottle | 3 × 7 | 30 |
| TM | Tennis Ball | 6 | 60 |
| TM | Light bulb box | 5 × 5 | 70 |
| LS | Felt-tip pen 1 | 1 × 11.5 | 20 |
| LS | Pen | 1 × 13 | 25 |
| LM | Felt-tip pen 2 | 2.5 × 11.5 | 30 |
| LM | Pen box 1 | 2.5 × 16 | 40 |
| LL | Pen box 2 | 4 × 16 | 35 |
| LL | Plastic box | 3.5 × 13 | 80 |
Notations: S, L - short and long axes, respectively.