Choose a detection type
Go through the six selection rules in order and stop at the first one that matches. You can also look up the right type directly from the verb in the step description.
Selection rules
Check in order and stop at the first match:
- When the step is done, the frame shows a visible, stable result (it is inside, connected, apart, gone, closed) → use an object type (Assembly, Present or absent, State, Position and orientation). Do not use a hand type in this case.
- The number has to be enough (place 4 screws, 6 per plate, really drive 3 times) → use Counting:
- N items in the frame at the same time → Object count;
- count separately in each container → Per-container class count;
- actually done N times → Action count.
- The point is what the hand did, and the result is invisible or only flashes by (press, pick up, put back, touch, reach, finish up) → use a hand action type.
- Combinations:
- need both a result and an action → 全部满足 (All of);
- any of several methods is fine → 任一满足 (Any of);
- require that something did not happen → 都不满足 (None of);
- there is an order → 依次满足 (In sequence).
- Several workpieces in one frame, each judged on its own → Per-piece mode (what to judge is still written with the types above).
- "Object present" without a zone is the last-resort fallback. Never use "Object in hand" as a fallback.
Verbs in the step → type
| Verb in the step description | Prefer |
|---|---|
| fit, put in, insert, install into | Inside container / Contact or connection |
| place on, put on, push in | Object present + select a zone |
| take away, remove, move away | Object left zone |
| clear, nothing may be left | Object absent (zone selected = nothing in that area; no zone = nothing in the whole frame) |
| pick up, hold, grab | Grip object / Pick up object |
| put back, put down | Put back object |
| touch, reach for | Hand near object |
| reach in, pick material | Hand in zone |
| hand leaves, finish up | Hand left zone |
| drive N screws, press N times | Action count (not Object count) |
| place N items | Object count |
| put N items in each box | Per-container class count |
| separate, take apart, pull out | Objects apart |
| close, put the lid on | Contact or connection / Object state change / Exclusive state check |
| insert fully, press into place | Length ratio |
| straighten, lay flat | Orientation constraint |
| place beside, place on the left | Center distance constraint / Relative position constraint |