#usda 1.0
(
    customLayerData = {
        dictionary cameraSettings = {
            dictionary Front = {
                double3 position = (5, 0, 0)
                double radius = 5
            }
            dictionary Perspective = {
                double3 position = (4.476158253317509, 3.654877728987201, 1.3570391385052043)
                double3 target = (-0.6192311091531382, 1.9982868946483097, 0.34649823446241834)
            }
            dictionary Right = {
                double3 position = (0, -5, 0)
                double radius = 5
            }
            dictionary Top = {
                double3 position = (0, 0, 5)
                double radius = 5
            }
            string boundCamera = "/OmniverseKit_Persp"
        }
        dictionary omni_layer = {
            dictionary locked = {
            }
            dictionary muteness = {
            }
        }
        dictionary physicsSettings = {
            int "/persistent/simulation/minFrameRate" = 60
        }
        dictionary renderSettings = {
        }
    }
    endTimeCode = 1000000
    metersPerUnit = 1
    startTimeCode = 0
    timeCodesPerSecond = 60
    upAxis = "Z"
)

def PhysicsScene "physicsScene" (
    prepend apiSchemas = ["PhysxSceneAPI"]
)
{
    vector3f physics:gravityDirection = (0, 0, -1)
    float physics:gravityMagnitude = 9.81
    uniform token physxScene:broadphaseType = "MBP"
    bool physxScene:enableCCD = 1
    bool physxScene:enableGPUDynamics = 0
    bool physxScene:enableStabilization = 1
    uniform token physxScene:solverType = "TGS"
    uint physxScene:timeStepsPerSecond = 60
}

def "World"
{
    def Xform "ground_plane" (
        prepend apiSchemas = ["MaterialBindingAPI"]
    )
    {
        rel material:binding = </World/Looks/visual_material> (
            bindMaterialAs = "strongerThanDescendants"
        )
        quatf xformOp:orient = (1, 0, 0, 0)
        float3 xformOp:scale = (1, 1, 1)
        float3 xformOp:translate = (0, 0, 0)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

        def Mesh "geom" (
            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxCollisionAPI"]
        )
        {
            uniform bool doubleSided = 1
            int[] faceVertexCounts = [4]
            int[] faceVertexIndices = [0, 1, 2, 3]
            normal3f[] normals = [(0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1)]
            point3f[] points = [(-50, -50, 0), (50, -50, 0), (50, 50, 0), (-50, 50, 0)]
            color3f[] primvars:displayColor = [(0, 0, 0)]
            quatd xformOp:orient = (1, 0, 0, 0)
            double3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (0, 0, 0)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
        }

        def Plane "collisionPlane" (
            prepend apiSchemas = ["PhysicsCollisionAPI"]
        )
        {
            uniform token axis = "Z"
            uniform token purpose = "guide"
        }
    }

    def "Physics_Materials"
    {
        def Material "physics_material" (
            prepend apiSchemas = ["PhysicsMaterialAPI"]
        )
        {
            float physics:dynamicFriction = 0.5
            float physics:restitution = 0.8
            float physics:staticFriction = 0.5
        }

        def Material "physics_material_1" (
            prepend apiSchemas = ["PhysicsMaterialAPI"]
        )
        {
            float physics:dynamicFriction = 1
            float physics:restitution = 0
            float physics:staticFriction = 0.2
        }

        def Material "physics_material_2" (
            prepend apiSchemas = ["PhysicsMaterialAPI"]
        )
        {
            float physics:dynamicFriction = 1
            float physics:restitution = 0
            float physics:staticFriction = 0.2
        }
    }

    def "Looks"
    {
        def Material "visual_material"
        {
            token outputs:surface.connect = </World/Looks/visual_material/shader.outputs:surface>

            def Shader "shader"
            {
                uniform token info:id = "UsdPreviewSurface"
                float3 inputs:diffuseColor = (0.5, 0.5, 0.5)
                token outputs:surface
            }
        }

        def Material "visual_material_1"
        {
            token outputs:surface.connect = </World/Looks/visual_material_1/shader.outputs:surface>

            def Shader "shader"
            {
                uniform token info:id = "UsdPreviewSurface"
                float3 inputs:diffuseColor = (0.5, 0.5, 0.5)
                token outputs:surface
            }
        }

        def Material "visual_material_2"
        {
            token outputs:surface.connect = </World/Looks/visual_material_2/shader.outputs:surface>

            def Shader "shader"
            {
                uniform token info:id = "UsdPreviewSurface"
                float3 inputs:diffuseColor = (0.5, 0.5, 0.5)
                token outputs:surface
            }
        }
    }

    def DomeLight "dome_light"
    {
        float inputs:intensity = 1000
    }

    def Cube "cube" (
        prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxCollisionAPI", "PhysicsMassAPI", "PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
    )
    {
        float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
        rel material:binding = None (
            bindMaterialAs = "strongerThanDescendants"
        )
        rel material:binding:physics = </World/Physics_Materials/physics_material_1> (
            bindMaterialAs = "strongerThanDescendants"
        )
        bool physics:collisionEnabled = 1
        float physics:mass = 0.02
        float physxCollision:contactOffset = 0.1
        float physxCollision:minTorsionalPatchRadius = 0.8
        float physxCollision:restOffset = 0
        float physxCollision:torsionalPatchRadius = 1
        float physxRigidBody:sleepThreshold = 0
        color3f[] primvars:displayColor = [(0, 0, 1)]
        double size = 1
        quatd xformOp:orient = (1, 0, 0, 0)
        double3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (0, 0, 0.5)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
    }

    def Cone "cone" (
        prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxCollisionAPI", "PhysicsMassAPI", "PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
    )
    {
        float3[] extent = [(-1, -1, -0.5), (1, 1, 0.5)]
        double height = 1
        rel material:binding = None (
            bindMaterialAs = "strongerThanDescendants"
        )
        rel material:binding:physics = </World/Physics_Materials/physics_material_2> (
            bindMaterialAs = "strongerThanDescendants"
        )
        bool physics:collisionEnabled = 1
        float physics:mass = 0.02
        float physxRigidBody:sleepThreshold = 0
        color3f[] primvars:displayColor = [(0, 1, 0)]
        double radius = 1
        custom bool refinementEnableOverride = 1
        custom int refinementLevel = 2
        quatd xformOp:orient = (1, 0, 0, 0)
        double3 xformOp:scale = (0.5, 0.5, 1)
        double3 xformOp:translate = (0, 0, 1.5)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

        def Xform "gripper_force_origin"
        {
            quatd xformOp:orient = (0.7071067690849304, 0, 0.7071067690849304, 0)
            double3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (0, 0, -0.5009999871253967)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
        }
    }
}

def "graph"
{
    def OmniGraph "SurfaceGripperActionGraph"
    {
        token evaluationMode = "Automatic"
        token evaluator:type = "execution"
        token fabricCacheBacking = "Shared"
        int2 fileFormatVersion = (1, 9)
        token pipelineStage = "pipelineStageSimulation"

        def OmniGraphNode "OnImpulseClose"
        {
            custom bool inputs:onlyPlayback = 0
            token node:type = "omni.graph.action.OnImpulseEvent"
            int node:typeVersion = 3
            custom uint outputs:execOut (
                customData = {
                    bool isExecution = 1
                }
            )
            custom bool state:enableImpulse
        }

        def OmniGraphNode "OnImpulseOpen"
        {
            custom bool inputs:onlyPlayback = 0
            token node:type = "omni.graph.action.OnImpulseEvent"
            int node:typeVersion = 3
            custom uint outputs:execOut (
                customData = {
                    bool isExecution = 1
                }
            )
            custom bool state:enableImpulse
        }

        def OmniGraphNode "OnKeyboardInputClose"
        {
            custom bool inputs:altIn
            custom bool inputs:ctrlIn
            custom token inputs:keyIn = "C" (
                allowedTokens = ["A", "B", "C", "D", "E", "F", "G", "H", "I", "J", "K", "L", "M", "N", "O", "P", "Q", "R", "S", "T", "U", "V", "W", "X", "Y", "Z", "Apostrophe", "Backslash", "Backspace", "CapsLock", "Comma", "Del", "Down", "End", "Enter", "Equal", "Escape", "F1", "F10", "F11", "F12", "F2", "F3", "F4", "F5", "F6", "F7", "F8", "F9", "GraveAccent", "Home", "Insert", "Key0", "Key1", "Key2", "Key3", "Key4", "Key5", "Key6", "Key7", "Key8", "Key9", "Left", "LeftAlt", "LeftBracket", "LeftControl", "LeftShift", "LeftSuper", "Menu", "Minus", "NumLock", "Numpad0", "Numpad1", "Numpad2", "Numpad3", "Numpad4", "Numpad5", "Numpad6", "Numpad7", "Numpad8", "Numpad9", "NumpadAdd", "NumpadDel", "NumpadDivide", "NumpadEnter", "NumpadEqual", "NumpadMultiply", "NumpadSubtract", "PageDown", "PageUp", "Pause", "Period", "PrintScreen", "Right", "RightAlt", "RightBracket", "RightControl", "RightShift", "RightSuper", "ScrollLock", "Semicolon", "Slash", "Space", "Tab", "Up"]
            )
            custom bool inputs:onlyPlayback = 0
            custom bool inputs:shiftIn
            token node:type = "omni.graph.action.OnKeyboardInput"
            int node:typeVersion = 4
            custom bool outputs:isPressed
            custom token outputs:keyOut
            custom uint outputs:pressed (
                customData = {
                    bool isExecution = 1
                }
            )
            custom uint outputs:released (
                customData = {
                    bool isExecution = 1
                }
            )
        }

        def OmniGraphNode "OnKeyboardInputOpen"
        {
            custom bool inputs:altIn
            custom bool inputs:ctrlIn
            custom token inputs:keyIn = "O" (
                allowedTokens = ["A", "B", "C", "D", "E", "F", "G", "H", "I", "J", "K", "L", "M", "N", "O", "P", "Q", "R", "S", "T", "U", "V", "W", "X", "Y", "Z", "Apostrophe", "Backslash", "Backspace", "CapsLock", "Comma", "Del", "Down", "End", "Enter", "Equal", "Escape", "F1", "F10", "F11", "F12", "F2", "F3", "F4", "F5", "F6", "F7", "F8", "F9", "GraveAccent", "Home", "Insert", "Key0", "Key1", "Key2", "Key3", "Key4", "Key5", "Key6", "Key7", "Key8", "Key9", "Left", "LeftAlt", "LeftBracket", "LeftControl", "LeftShift", "LeftSuper", "Menu", "Minus", "NumLock", "Numpad0", "Numpad1", "Numpad2", "Numpad3", "Numpad4", "Numpad5", "Numpad6", "Numpad7", "Numpad8", "Numpad9", "NumpadAdd", "NumpadDel", "NumpadDivide", "NumpadEnter", "NumpadEqual", "NumpadMultiply", "NumpadSubtract", "PageDown", "PageUp", "Pause", "Period", "PrintScreen", "Right", "RightAlt", "RightBracket", "RightControl", "RightShift", "RightSuper", "ScrollLock", "Semicolon", "Slash", "Space", "Tab", "Up"]
            )
            custom bool inputs:onlyPlayback = 0
            custom bool inputs:shiftIn
            token node:type = "omni.graph.action.OnKeyboardInput"
            int node:typeVersion = 4
            custom bool outputs:isPressed
            custom token outputs:keyOut
            custom uint outputs:pressed (
                customData = {
                    bool isExecution = 1
                }
            )
            custom uint outputs:released (
                customData = {
                    bool isExecution = 1
                }
            )
        }

        def OmniGraphNode "OnPlaybackTick"
        {
            token node:type = "omni.graph.action.OnPlaybackTick"
            int node:typeVersion = 2
            custom double outputs:deltaSeconds
            custom double outputs:frame
            custom uint outputs:tick (
                customData = {
                    bool isExecution = 1
                }
            )
            custom double outputs:time
        }

        def OmniGraphNode "SurfaceGripperNode"
        {
            custom float inputs:BendAngle
            custom uint inputs:Close (
                customData = {
                    bool isExecution = 1
                }
            )
            prepend uint inputs:Close.connect = [
                </graph/SurfaceGripperActionGraph/OnImpulseClose.outputs:execOut>,
                </graph/SurfaceGripperActionGraph/OnKeyboardInputClose.outputs:pressed>,
            ]
            custom float inputs:Damping
            custom float inputs:Delta
            custom bool inputs:DisableGravity
            custom bool inputs:enabled
            custom float inputs:ForceLimit
            custom rel inputs:GripPosition = </World/cone/gripper_force_origin> (
                customData = {
                    dictionary omni = {
                        dictionary graph = {
                            string relType = "target"
                        }
                    }
                }
            )
            custom float inputs:GripThreshold
            custom uint inputs:onStep (
                customData = {
                    bool isExecution = 1
                }
            )
            custom uint inputs:Open (
                customData = {
                    bool isExecution = 1
                }
            )
            prepend uint inputs:Open.connect = [
                </graph/SurfaceGripperActionGraph/OnImpulseOpen.outputs:execOut>,
                </graph/SurfaceGripperActionGraph/OnKeyboardInputOpen.outputs:pressed>,
            ]
            custom rel inputs:ParentRigidBody = </World/cone> (
                customData = {
                    dictionary omni = {
                        dictionary graph = {
                            string relType = "target"
                        }
                    }
                }
            )
            custom bool inputs:RetryClose
            custom float inputs:Stiffness
            custom float inputs:TorqueLimit
            token node:type = "omni.isaac.surface_gripper.SurfaceGripper"
            int node:typeVersion = 1
            custom bool outputs:Closed
            custom uint outputs:GripBroken (
                customData = {
                    bool isExecution = 1
                }
            )
        }

        def OmniGraphNode "ROS2Context"
        {
            custom uchar inputs:domain_id
            custom bool inputs:useDomainIDEnvVar
            token node:type = "omni.isaac.ros2_bridge.ROS2Context"
            int node:typeVersion = 2
            custom uint64 outputs:context
        }

        def OmniGraphNode "ROS2Publisher"
        {
            custom uint64 inputs:context
            prepend uint64 inputs:context.connect = </graph/SurfaceGripperActionGraph/ROS2Context.outputs:context>
            custom double[] inputs:effort
            custom uint inputs:execIn (
                customData = {
                    bool isExecution = 1
                }
            )
            prepend uint inputs:execIn.connect = </graph/SurfaceGripperActionGraph/OnPlaybackTick.outputs:tick>
            custom token inputs:header:frame_id
            custom uint inputs:header:stamp:nanosec
            prepend uint inputs:header:stamp:nanosec.connect = </graph/SurfaceGripperActionGraph/IsaacTimeSplitter.outputs:nanoseconds>
            custom int inputs:header:stamp:sec
            prepend int inputs:header:stamp:sec.connect = </graph/SurfaceGripperActionGraph/IsaacTimeSplitter.outputs:seconds>
            custom string inputs:messageName = "JointState"
            custom string inputs:messagePackage = "sensor_msgs"
            custom string inputs:messageSubfolder
            custom token[] inputs:name
            custom string inputs:nodeNamespace = "surface_gripper"
            custom double[] inputs:position
            prepend double[] inputs:position.connect = </graph/SurfaceGripperActionGraph/ConstructArrayPosition.outputs:array>
            custom string inputs:qosProfile
            custom uint64 inputs:queueSize
            custom string inputs:topicName = "joint_states"
            custom double[] inputs:velocity
            token node:type = "omni.isaac.ros2_bridge.ROS2Publisher"
            int node:typeVersion = 1
            custom uint outputs:execOut (
                customData = {
                    bool isExecution = 1
                }
            )
        }

        def OmniGraphNode "IsaacReadSimulationTime"
        {
            custom bool inputs:resetOnStop = 0
            custom int64 inputs:swhFrameNumber
            token node:type = "omni.isaac.core_nodes.IsaacReadSimulationTime"
            int node:typeVersion = 1
            custom double outputs:simulationTime
        }

        def OmniGraphNode "IsaacTimeSplitter"
        {
            custom token inputs:time
            prepend token inputs:time.connect = </graph/SurfaceGripperActionGraph/IsaacReadSimulationTime.outputs:simulationTime>
            token node:type = "omni.isaac.core_nodes.IsaacTimeSplitter"
            int node:typeVersion = 1
            custom uint outputs:microseconds
            custom uint outputs:milliseconds
            custom uint outputs:nanoseconds
            custom int outputs:seconds
        }

        def OmniGraphNode "ConstantDoubleOpen"
        {
            custom double inputs:value = 0
            token node:type = "omni.graph.nodes.ConstantDouble"
            int node:typeVersion = 1
        }

        def OmniGraphNode "ConstantDoubleClose"
        {
            custom double inputs:value = 1
            token node:type = "omni.graph.nodes.ConstantDouble"
            int node:typeVersion = 1
        }

        def OmniGraphNode "SelectIfPosition"
        {
            custom token inputs:condition
            prepend token inputs:condition.connect = </graph/SurfaceGripperActionGraph/SurfaceGripperNode.outputs:Closed>
            custom token inputs:ifFalse
            prepend token inputs:ifFalse.connect = </graph/SurfaceGripperActionGraph/ConstantDoubleOpen.inputs:value>
            custom token inputs:ifTrue
            prepend token inputs:ifTrue.connect = </graph/SurfaceGripperActionGraph/ConstantDoubleClose.inputs:value>
            token node:type = "omni.graph.nodes.SelectIf"
            int node:typeVersion = 1
            custom token outputs:result
        }

        def OmniGraphNode "ConstructArrayPosition"
        {
            custom int inputs:arraySize
            custom token inputs:arrayType (
                allowedTokens = ["auto", "bool[]", "double[]", "float[]", "half[]", "int[]", "int64[]", "token[]", "uchar[]", "uint[]", "uint64[]", "double[2][]", "double[3][]", "double[4][]", "matrixd[2][]", "matrixd[3][]", "matrixd[4][]", "float[2][]", "float[3][]", "float[4][]", "half[2][]", "half[3][]", "half[4][]", "int[2][]", "int[3][]", "int[4][]", "timecode[]", "frame[4][]", "colord[3][]", "colorf[3][]", "colorh[3][]", "colord[4][]", "colorf[4][]", "colorh[4][]", "normald[3][]", "normalf[3][]", "normalh[3][]", "pointd[3][]", "pointf[3][]", "pointh[3][]", "quatd[4][]", "quatf[4][]", "quath[4][]", "texcoordd[2][]", "texcoordf[2][]", "texcoordh[2][]", "texcoordd[3][]", "texcoordf[3][]", "texcoordh[3][]", "vectord[3][]", "vectorf[3][]", "vectorh[3][]"]
            )
            custom token inputs:input0
            delete token inputs:input0.connect = </graph/SurfaceGripperActionGraph/SelectIfPosition.outputs:result>
            prepend token inputs:input0.connect = </graph/SurfaceGripperActionGraph/SelectIfPosition.outputs:result>
            token node:type = "omni.graph.nodes.ConstructArray"
            int node:typeVersion = 1
            custom token outputs:array
        }

        def OmniGraphNode "ConstantColor3fOpen"
        {
            custom color3f inputs:value = (0, 1, 0)
            token node:type = "omni.graph.nodes.ConstantColor3f"
            int node:typeVersion = 1
        }

        def OmniGraphNode "ConstantColor3fClose"
        {
            custom color3f inputs:value = (1, 0, 0)
            token node:type = "omni.graph.nodes.ConstantColor3f"
            int node:typeVersion = 1
        }

        def OmniGraphNode "SelectIfColor"
        {
            custom token inputs:condition
            prepend token inputs:condition.connect = </graph/SurfaceGripperActionGraph/SurfaceGripperNode.outputs:Closed>
            custom token inputs:ifFalse
            prepend token inputs:ifFalse.connect = </graph/SurfaceGripperActionGraph/ConstantColor3fOpen.inputs:value>
            custom token inputs:ifTrue
            prepend token inputs:ifTrue.connect = </graph/SurfaceGripperActionGraph/ConstantColor3fClose.inputs:value>
            token node:type = "omni.graph.nodes.SelectIf"
            int node:typeVersion = 1
            custom token outputs:result
        }

        def OmniGraphNode "ConstructArrayColor"
        {
            custom int inputs:arraySize
            custom token inputs:arrayType (
                allowedTokens = ["auto", "bool[]", "double[]", "float[]", "half[]", "int[]", "int64[]", "token[]", "uchar[]", "uint[]", "uint64[]", "double[2][]", "double[3][]", "double[4][]", "matrixd[2][]", "matrixd[3][]", "matrixd[4][]", "float[2][]", "float[3][]", "float[4][]", "half[2][]", "half[3][]", "half[4][]", "int[2][]", "int[3][]", "int[4][]", "timecode[]", "frame[4][]", "colord[3][]", "colorf[3][]", "colorh[3][]", "colord[4][]", "colorf[4][]", "colorh[4][]", "normald[3][]", "normalf[3][]", "normalh[3][]", "pointd[3][]", "pointf[3][]", "pointh[3][]", "quatd[4][]", "quatf[4][]", "quath[4][]", "texcoordd[2][]", "texcoordf[2][]", "texcoordh[2][]", "texcoordd[3][]", "texcoordf[3][]", "texcoordh[3][]", "vectord[3][]", "vectorf[3][]", "vectorh[3][]"]
            )
            custom token inputs:input0
            delete token inputs:input0.connect = </graph/SurfaceGripperActionGraph/SelectIfColor.outputs:result>
            prepend token inputs:input0.connect = </graph/SurfaceGripperActionGraph/SelectIfColor.outputs:result>
            token node:type = "omni.graph.nodes.ConstructArray"
            int node:typeVersion = 1
            custom token outputs:array
        }

        def OmniGraphNode "WriteGripperColor"
        {
            custom uint inputs:execIn (
                customData = {
                    bool isExecution = 1
                }
            )
            prepend uint inputs:execIn.connect = </graph/SurfaceGripperActionGraph/OnPlaybackTick.outputs:tick>
            custom token inputs:name
            custom rel inputs:prim = </World/cone> (
                customData = {
                    dictionary omni = {
                        dictionary graph = {
                            string relType = "target"
                        }
                    }
                }
            )
            custom token inputs:primPath
            custom bool inputs:usdWriteBack
            custom bool inputs:usePath
            custom token inputs:value
            prepend token inputs:value.connect = </graph/SurfaceGripperActionGraph/ConstructArrayColor.outputs:array>
            token node:type = "omni.graph.nodes.WritePrimAttribute"
            int node:typeVersion = 2
            custom uint outputs:execOut (
                customData = {
                    bool isExecution = 1
                }
            )
            custom bool state:correctlySetup
            custom uint64 state:destAttrib
            custom uint64 state:destPath
            custom uint64 state:destPathToken
        }

        def OmniGraphNode "ConstantStringOpen"
        {
            custom string inputs:value = "Open"
            token node:type = "omni.graph.nodes.ConstantString"
            int node:typeVersion = 1
        }

        def OmniGraphNode "ConstantStringClose"
        {
            custom string inputs:value = "Close"
            token node:type = "omni.graph.nodes.ConstantString"
            int node:typeVersion = 1
        }

        def OmniGraphNode "SelectIfGripperState"
        {
            custom token inputs:condition
            prepend token inputs:condition.connect = </graph/SurfaceGripperActionGraph/SurfaceGripperNode.outputs:Closed>
            custom token inputs:ifFalse
            prepend token inputs:ifFalse.connect = </graph/SurfaceGripperActionGraph/ConstantStringOpen.inputs:value>
            custom token inputs:ifTrue
            prepend token inputs:ifTrue.connect = </graph/SurfaceGripperActionGraph/ConstantStringClose.inputs:value>
            token node:type = "omni.graph.nodes.SelectIf"
            int node:typeVersion = 1
            custom token outputs:result
        }

        def OmniGraphNode "PrintGripperState"
        {
            custom uint inputs:execIn (
                customData = {
                    bool isExecution = 1
                }
            )
            prepend uint inputs:execIn.connect = </graph/SurfaceGripperActionGraph/OnPlaybackTick.outputs:tick>
            custom token inputs:logLevel (
                allowedTokens = ["Info", "Warning", "Error"]
            )
            custom string inputs:text
            prepend string inputs:text.connect = </graph/SurfaceGripperActionGraph/SelectIfGripperState.outputs:result>
            custom bool inputs:toScreen = 1
            custom token inputs:viewport
            token node:type = "omni.graph.ui_nodes.PrintText"
            int node:typeVersion = 1
            custom uint outputs:execOut (
                customData = {
                    bool isExecution = 1
                }
            )
        }
    }
}