Fig. 1. Framework diagram of the system

Fig. 2. Representation of the non-uniform normalized object coordinate space

Fig. 3. Process of grasping attitude samples in the simulator

Fig. 4. Detection of grasping attitudes

Fig. 5. Diagram of the grasping network Q

Fig. 6. Surface contact heat maps of the J599 electrical connector

Fig. 7. Architecture diagram of the 3D-BoNet

Fig. 8. Experimental samples

Fig. 9. An electrical connector generated in the simulator

Fig. 10. Diagram of grasping and then assembling the model