#usda 1.0
(
    doc = """Compact two-finger parallel gripper for the MinimalIntentRobotServer sample.

    The root prim mounts on the arm flange with +X as the tool approach direction. FingerLeftSlide and FingerRightSlide are the prismatic Xforms a live layer can drive to open and close the jaws; their authored translations show the gripper open at a readable default. /Gripper/Tcp lies between the fingertips and is the tool centre point used by Robot Intent targets.

    Every gprim carries both a material binding and a matching primvars:displayColor, so the asset reads correctly on renderers that ignore the material graph. Meshes are doubleSided so face winding cannot cull a surface. Keep the slide prim names and their translate ops stable if the gripper geometry is refined. The TCP marker is a debugging aid and is invisible by default; applications drive the two slide translates to show the jaw aperture.
    """
    defaultPrim = "Gripper"
    metersPerUnit = 1
    upAxis = "Z"
)

def Xform "Gripper" (
    kind = "component"
)
{
    def Cylinder "AdapterPlate" (
        prepend apiSchemas = ["MaterialBindingAPI"]
    )
    {
        uniform token axis = "X"
        double height = 0.0140
        double radius = 0.0320
        color3f[] primvars:displayColor = [(0.60, 0.61, 0.64)]
        rel material:binding = </Gripper/Materials/Steel>
        double3 xformOp:translate = (0.0070, 0, 0)
        uniform token[] xformOpOrder = ["xformOp:translate"]
    }

    def Cube "Body" (
        prepend apiSchemas = ["MaterialBindingAPI"]
    )
    {
        double size = 1
        color3f[] primvars:displayColor = [(0.10, 0.38, 0.68)]
        rel material:binding = </Gripper/Materials/TcpBlue>
        double3 xformOp:translate = (0.0550, 0, 0)
        double3 xformOp:scale = (0.0450, 0.0550, 0.0320)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
    }

    def Cylinder "GuideRodUpper" (
        prepend apiSchemas = ["MaterialBindingAPI"]
    )
    {
        uniform token axis = "Y"
        double height = 0.1100
        double radius = 0.0050
        color3f[] primvars:displayColor = [(0.60, 0.61, 0.64)]
        rel material:binding = </Gripper/Materials/Steel>
        double3 xformOp:translate = (0.1040, 0, 0.0200)
        uniform token[] xformOpOrder = ["xformOp:translate"]
    }

    def Cylinder "GuideRodLower" (
        prepend apiSchemas = ["MaterialBindingAPI"]
    )
    {
        uniform token axis = "Y"
        double height = 0.1100
        double radius = 0.0050
        color3f[] primvars:displayColor = [(0.60, 0.61, 0.64)]
        rel material:binding = </Gripper/Materials/Steel>
        double3 xformOp:translate = (0.1040, 0, -0.0200)
        uniform token[] xformOpOrder = ["xformOp:translate"]
    }

    def Xform "FingerLeftSlide"
    {
        double3 xformOp:translate = (0, 0.0320, 0)
        uniform token[] xformOpOrder = ["xformOp:translate"]

        def Cube "Carrier" (
            prepend apiSchemas = ["MaterialBindingAPI"]
        )
        {
            double size = 1
            color3f[] primvars:displayColor = [(0.60, 0.61, 0.64)]
            rel material:binding = </Gripper/Materials/Steel>
            double3 xformOp:translate = (0.1040, 0, 0)
            double3 xformOp:scale = (0.0200, 0.0120, 0.0300)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
        }

        def Cube "Finger" (
            prepend apiSchemas = ["MaterialBindingAPI"]
        )
        {
            double size = 1
            color3f[] primvars:displayColor = [(0.95, 0.75, 0.05)]
            rel material:binding = </Gripper/Materials/JawYellow>
            double3 xformOp:translate = (0.1700, 0, 0)
            double3 xformOp:scale = (0.0750, 0.0160, 0.0350)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
        }
    }

    def Xform "FingerRightSlide"
    {
        double3 xformOp:translate = (0, -0.0320, 0)
        uniform token[] xformOpOrder = ["xformOp:translate"]

        def Cube "Carrier" (
            prepend apiSchemas = ["MaterialBindingAPI"]
        )
        {
            double size = 1
            color3f[] primvars:displayColor = [(0.60, 0.61, 0.64)]
            rel material:binding = </Gripper/Materials/Steel>
            double3 xformOp:translate = (0.1040, 0, 0)
            double3 xformOp:scale = (0.0200, 0.0120, 0.0300)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
        }

        def Cube "Finger" (
            prepend apiSchemas = ["MaterialBindingAPI"]
        )
        {
            double size = 1
            color3f[] primvars:displayColor = [(0.95, 0.75, 0.05)]
            rel material:binding = </Gripper/Materials/JawYellow>
            double3 xformOp:translate = (0.1700, 0, 0)
            double3 xformOp:scale = (0.0750, 0.0160, 0.0350)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
        }
    }

    def Xform "Tcp"
    {
        double3 xformOp:translate = (0.1850, 0, 0)
        uniform token[] xformOpOrder = ["xformOp:translate"]
        token visibility = "invisible"

        def Sphere "Marker" (
            prepend apiSchemas = ["MaterialBindingAPI"]
        )
        {
            double radius = 0.0080
            color3f[] primvars:displayColor = [(0.10, 0.38, 0.68)]
            rel material:binding = </Gripper/Materials/TcpBlue>
        }
    }

    def Scope "Materials"
    {
        def Material "Anodised"
        {
            token outputs:surface.connect = </Gripper/Materials/Anodised/Surface.outputs:surface>
            def Shader "Surface"
            {
                uniform token info:id = "UsdPreviewSurface"
                color3f inputs:diffuseColor = (0.14, 0.15, 0.17)
                float inputs:roughness = 0.45
                float inputs:metallic = 0.5
                token outputs:surface
            }
        }

        def Material "Steel"
        {
            token outputs:surface.connect = </Gripper/Materials/Steel/Surface.outputs:surface>
            def Shader "Surface"
            {
                uniform token info:id = "UsdPreviewSurface"
                color3f inputs:diffuseColor = (0.60, 0.61, 0.64)
                float inputs:roughness = 0.24
                float inputs:metallic = 1
                token outputs:surface
            }
        }

        def Material "JawBlack"
        {
            token outputs:surface.connect = </Gripper/Materials/JawBlack/Surface.outputs:surface>
            def Shader "Surface"
            {
                uniform token info:id = "UsdPreviewSurface"
                color3f inputs:diffuseColor = (0.05, 0.05, 0.06)
                float inputs:roughness = 0.70
                float inputs:metallic = 0
                token outputs:surface
            }

            def Material "JawYellow"
            {
                token outputs:surface.connect = </Gripper/Materials/JawYellow/Surface.outputs:surface>
                def Shader "Surface"
                {
                    uniform token info:id = "UsdPreviewSurface"
                    color3f inputs:diffuseColor = (0.95, 0.75, 0.05)
                    float inputs:roughness = 0.50
                    float inputs:metallic = 0
                    token outputs:surface
                }
            }
        }

        def Material "TcpBlue"
        {
            token outputs:surface.connect = </Gripper/Materials/TcpBlue/Surface.outputs:surface>
            def Shader "Surface"
            {
                uniform token info:id = "UsdPreviewSurface"
                color3f inputs:diffuseColor = (0.10, 0.38, 0.68)
                float inputs:roughness = 0.40
                float inputs:metallic = 0
                token outputs:surface
            }
        }
    }
}