#usda 1.0
(
    doc = """Two-finger parallel gripper dynamically referenced on R1's flange by the Robotics OpenUSD example.

    Sized for the DIN ISO 9409-1-A50 tool flange the robot asset exposes: a 63 mm adapter plate, a ribbed anodised body, hardened steel guide rods, and two machined jaws. +X is the tool approach direction, matching the flange frame.
    """
    defaultPrim = "Gripper"
    metersPerUnit = 1
    upAxis = "Z"
)

def Xform "Gripper" (
    kind = "component"
)
{
    # Adapter plate bolted to the ISO 50 flange.
    def Cylinder "AdapterPlate" (
        prepend apiSchemas = ["MaterialBindingAPI"]
    )
    {
        uniform token axis = "X"
        double height = 0.012
        double radius = 0.0320
        color3f[] primvars:displayColor = [(0.52, 0.53, 0.55)]
        rel material:binding = </Gripper/Materials/Steel>
        double3 xformOp:translate = (0.0060, 0, 0)
        uniform token[] xformOpOrder = ["xformOp:translate"]
    }

    # Ribbed anodised body housing the drive.
    def Mesh "Body" (
        prepend apiSchemas = ["MaterialBindingAPI"]
    )
    {
        uniform bool doubleSided = true
        int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
        int[] faceVertexIndices = [0, 1, 2, 3, 7, 6, 5, 4, 0, 4, 5, 1, 1, 5, 6, 2, 2, 6, 7, 3, 3, 7, 4, 0]
        point3f[] points = [
            (0.0120, -0.0420, -0.0300), (0.0900, -0.0480, -0.0340),
            (0.0900, 0.0480, -0.0340), (0.0120, 0.0420, -0.0300),
            (0.0120, -0.0420, 0.0300), (0.0900, -0.0480, 0.0340),
            (0.0900, 0.0480, 0.0340), (0.0120, 0.0420, 0.0300)
        ]
        color3f[] primvars:displayColor = [(0.13, 0.14, 0.16)]
        rel material:binding = </Gripper/Materials/Anodised>
    }

    def Cube "RibA" (
        prepend apiSchemas = ["MaterialBindingAPI"]
    )
    {
        double size = 1
        color3f[] primvars:displayColor = [(0.10, 0.11, 0.13)]
        rel material:binding = </Gripper/Materials/Anodised>
        double3 xformOp:translate = (0.0340, 0, 0)
        double3 xformOp:scale = (0.0050, 0.0510, 0.0350)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
    }

    def Cube "RibB" (
        prepend apiSchemas = ["MaterialBindingAPI"]
    )
    {
        double size = 1
        color3f[] primvars:displayColor = [(0.10, 0.11, 0.13)]
        rel material:binding = </Gripper/Materials/Anodised>
        double3 xformOp:translate = (0.0620, 0, 0)
        double3 xformOp:scale = (0.0050, 0.0520, 0.0360)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
    }

    # Hardened guide rods the jaws ride on.
    def Cylinder "GuideRodUpper" (
        prepend apiSchemas = ["MaterialBindingAPI"]
    )
    {
        uniform token axis = "X"
        double height = 0.055
        double radius = 0.0060
        color3f[] primvars:displayColor = [(0.60, 0.61, 0.64)]
        rel material:binding = </Gripper/Materials/Steel>
        double3 xformOp:translate = (0.1100, 0, 0.0210)
        uniform token[] xformOpOrder = ["xformOp:translate"]
    }

    def Cylinder "GuideRodLower" (
        prepend apiSchemas = ["MaterialBindingAPI"]
    )
    {
        uniform token axis = "X"
        double height = 0.055
        double radius = 0.0060
        color3f[] primvars:displayColor = [(0.60, 0.61, 0.64)]
        rel material:binding = </Gripper/Materials/Steel>
        double3 xformOp:translate = (0.1100, 0, -0.0210)
        uniform token[] xformOpOrder = ["xformOp:translate"]
    }

    # Jaw carriers and the machined gripping fingers. Each jaw is one Xform so a single
    # transform strokes the carrier and its finger together - binding the carrier alone
    # would slide the block out from under the finger it is bolted to. Like every other
    # live-bound prim it declares one matrix op: this file is referenced onto the flange,
    # so any op order declared here sits in a layer weaker than the one a connector edits
    # and could not be cleared from there. The authored pose is the fully open one, with
    # the finger inner faces at y = +/-0.048, clearing a 70 mm part.
    def Xform "JawUpper"
    {
        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0.0600, 0, 1) )
        uniform token[] xformOpOrder = ["xformOp:transform"]

        def Cube "Carrier" (
            prepend apiSchemas = ["MaterialBindingAPI"]
        )
        {
            double size = 1
            color3f[] primvars:displayColor = [(0.16, 0.17, 0.19)]
            rel material:binding = </Gripper/Materials/Anodised>
            double3 xformOp:translate = (0.1080, 0, 0)
            double3 xformOp:scale = (0.0260, 0.0130, 0.0300)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
        }

        def Mesh "Finger" (
            prepend apiSchemas = ["MaterialBindingAPI"]
        )
        {
            uniform bool doubleSided = true
            int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
            int[] faceVertexIndices = [0, 1, 2, 3, 7, 6, 5, 4, 0, 4, 5, 1, 1, 5, 6, 2, 2, 6, 7, 3, 3, 7, 4, 0]
            point3f[] points = [
                (0.1210, -0.0120, -0.0230), (0.1900, -0.0120, -0.0170),
                (0.1900, 0.0100, -0.0170), (0.1210, 0.0120, -0.0230),
                (0.1210, -0.0120, 0.0230), (0.1900, -0.0120, 0.0170),
                (0.1900, 0.0100, 0.0170), (0.1210, 0.0120, 0.0230)
            ]
            color3f[] primvars:displayColor = [(0.05, 0.05, 0.06)]
            rel material:binding = </Gripper/Materials/JawBlack>
        }
    }

    def Xform "JawLower"
    {
        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, -0.0600, 0, 1) )
        uniform token[] xformOpOrder = ["xformOp:transform"]

        def Cube "Carrier" (
            prepend apiSchemas = ["MaterialBindingAPI"]
        )
        {
            double size = 1
            color3f[] primvars:displayColor = [(0.16, 0.17, 0.19)]
            rel material:binding = </Gripper/Materials/Anodised>
            double3 xformOp:translate = (0.1080, 0, 0)
            double3 xformOp:scale = (0.0260, 0.0130, 0.0300)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
        }

        def Mesh "Finger" (
            prepend apiSchemas = ["MaterialBindingAPI"]
        )
        {
            uniform bool doubleSided = true
            int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
            int[] faceVertexIndices = [0, 1, 2, 3, 7, 6, 5, 4, 0, 4, 5, 1, 1, 5, 6, 2, 2, 6, 7, 3, 3, 7, 4, 0]
            point3f[] points = [
                (0.1210, -0.0120, -0.0230), (0.1900, -0.0100, -0.0170),
                (0.1900, 0.0120, -0.0170), (0.1210, 0.0120, -0.0230),
                (0.1210, -0.0120, 0.0230), (0.1900, -0.0100, 0.0170),
                (0.1900, 0.0120, 0.0170), (0.1210, 0.0120, 0.0230)
            ]
            color3f[] primvars:displayColor = [(0.05, 0.05, 0.06)]
            rel material:binding = </Gripper/Materials/JawBlack>
        }
    }

    # Pneumatic feed to the drive.
    def Cylinder "AirLine" (
        prepend apiSchemas = ["MaterialBindingAPI"]
    )
    {
        uniform token axis = "X"
        double height = 0.06
        double radius = 0.0055
        color3f[] primvars:displayColor = [(0.10, 0.30, 0.55)]
        rel material:binding = </Gripper/Materials/AirLineBlue>
        double3 xformOp:translate = (0.0500, 0, 0.0390)
        uniform token[] xformOpOrder = ["xformOp:translate"]
    }

    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 = (0.13, 0.14, 0.16)
                float inputs:roughness = 0.38
                float inputs:metallic = 0.6
                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 = (0.58, 0.59, 0.62)
                float inputs:roughness = 0.22
                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 "AirLineBlue"
        {
            token outputs:surface.connect = </Gripper/Materials/AirLineBlue/Surface.outputs:surface>
            def Shader "Surface"
            {
                uniform token info:id = "UsdPreviewSurface"
                color3f inputs:diffuseColor = (0.10, 0.30, 0.55)
                float inputs:roughness = 0.60
                float inputs:metallic = 0
                token outputs:surface
            }
        }
    }
}