forgecad 0.9.16 → 0.10.1

package/examples/robotics/scout-cam-rover-simready/parts/turret.forge.js

@@ -0,0 +1,70 @@
+// Pan turret of the scout cam rover (printed in black PLA).
+// Rides the SG90 round horn through the neck bore: the central column reaches
+// down through the neck, its socket ceiling rests on the horn top (M2 screw up
+// through the horn into the spline retains it — purchased hardware, see BOM).
+// Turret-local frame: base underside at z=0, +Z up, spline axis = Z.
+
+const wallP = param('wall_thickness', 2.4, { min: 2.0, max: 3.0, step: 0.1, unit: 'mm' });
+const wheelODP = param('wheel_od', 110, { min: 96, max: 130, step: 1, unit: 'mm' });
+
+const dimsMod = require('../lib/dims.js');
+
+const COL_BLACK = '#1f2023';
+
+function buildTurret(D) {
+  const T = D.turret;
+
+  // base disc with 4 cosmetic lugs
+  let tr = cylinder(T.baseH, T.baseD / 2);
+  for (const pt of circularLayout(T.lugN, T.baseD / 2 + T.lugT / 2 - 0.3, { startDeg: 45 })) {
+    tr = tr.add(
+      box(T.lugW, T.lugT, T.lugH).translate(pt.x, pt.y, 0)
+        .rotate([0, 0, 1], (Math.atan2(pt.y, pt.x) * 180) / Math.PI, { pivot: [pt.x, pt.y, 0] })
+    );
+  }
+
+  // barrel + cap
+  tr = tr.add(cylinder(T.barrelH, T.barrelD / 2).translate(0, 0, T.baseH));
+  tr = tr.add(cylinder(T.capH, T.capD / 2).translate(0, 0, T.baseH + T.barrelH));
+
+  // emblem on top: two engraved rings + a small dome
+  const capTop = T.baseH + T.barrelH + T.capH;
+  const ringCut = (rOut, rIn) =>
+    cylinder(1.0, rOut).subtract(cylinder(1.4, rIn).translate(0, 0, -0.2)).translate(0, 0, capTop - 0.8);
+  tr = tr.subtract(ringCut(10, 8), ringCut(5, 3.4));
+  tr = tr.add(sphere(2.2).scale([1, 1, 0.55]).translate(0, 0, capTop - 0.4));
+
+  // central column down through the neck to the servo horn
+  const colTop = 0.5; // weld into the base disc
+  let col = cylinder(T.colLen + colTop, T.colD / 2).translate(0, 0, -T.colLen);
+  col = col.add(cylinder(T.colHubH, T.colHubD / 2).translate(0, 0, -T.colLen));
+  // horn socket: open downward, ceiling rests on the horn top face
+  col = col.subtract(cylinder(T.socketDepth + 0.1, T.socketD / 2).translate(0, 0, -T.colLen - 0.1));
+  // clearance bore above the socket for the M2 retention screw head
+  col = col.subtract(cylinder(6, 2.6).translate(0, 0, -T.colLen + T.socketDepth - 0.1));
+  tr = tr.add(col);
+
+  return tr.color(COL_BLACK).material({ metalness: 0.15, roughness: 0.5, clearcoat: 0.3 })
+    .withConnectors({
+      hub: connector('axle', {
+        origin: [0, 0, -T.colLen + T.socketDepth], axis: [0, 0, -1], up: [0, 1, 0], kind: 'revolute',
+      }),
+    });
+}
+
+const D = dimsMod.compute({ wall: wallP, wheelOD: wheelODP });
+
+if (require.main === module) {
+  scene({
+    camera: { position: [90, -100, 80], target: [0, 0, 8], fov: 40 },
+    environment: { preset: 'studio', intensity: 0.3, background: false },
+    lights: [
+      { type: 'ambient', color: '#efe7dc', intensity: 0.25 },
+      { type: 'directional', position: [80, -90, 130], color: '#ffe2bf', intensity: 2.4, castShadow: true },
+      { type: 'directional', position: [-70, 60, 60], color: '#d4e6fb', intensity: 0.9 },
+    ],
+  });
+  return { preview: [{ name: 'Turret', shape: buildTurret(D) }], make: { buildTurret } };
+}
+
+return { make: { buildTurret } };

package/examples/robotics/scout-cam-rover-simready/parts/wheel.forge.js

@@ -0,0 +1,116 @@
+// Wheel for the scout cam rover: printed rim (PLA) + printed tire (TPU).
+// Wheel-local frame: z=0 is the hub bore mouth (faces the robot), +Z points outboard.
+// The hub boss runs inside the motor-pod bore and grips the N20 D-shaft (press fit).
+
+const wallP = param('wall_thickness', 2.4, { min: 2.0, max: 3.0, step: 0.1, unit: 'mm' });
+const wheelODP = param('wheel_od', 110, { min: 96, max: 130, step: 1, unit: 'mm' });
+
+const dimsMod = require('../lib/dims.js');
+
+const COL_TEAL = '#2fb3b8';
+const COL_TIRE = '#cfc8bc';
+
+function buildRim(D) {
+  const hub = D.hub, web = D.web;
+  const rimOR = D.rimOD / 2, rimIR = D.rimID / 2;
+
+  // hub boss with D-bore for the N20 shaft
+  let boss = cylinder(hub.bossL, hub.bossD / 2);
+  const flatY = hub.boreFlat - hub.boreD / 2; // flat plane offset from center
+  const dProfile = circle2d(hub.boreD / 2)
+    .intersect(rect(hub.boreD + 0.4, hub.boreFlat).translate(0, (hub.boreFlat / 2) - hub.boreD / 2));
+  const dBore = dProfile.extrude(hub.boreDepth + 0.1).translate(0, 0, -0.1);
+  boss = boss.subtract(dBore);
+  verify.greaterThan('D-bore flat offset is positive', flatY + hub.boreD / 2, 0);
+
+  // spoke web: hub disc + crosshair spokes + mid ring, welded 1mm into the rim band
+  const webReach = rimIR + 1;
+  const webSk = circle2d(11)
+    .add(rect(webReach * 2, 8))
+    .add(rect(8, webReach * 2))
+    .add(circle2d(28).subtract(circle2d(24)));
+  let webSolid = webSk.extrude(web.t).translate(0, 0, web.z0);
+
+  // rim band
+  const rimBand = cylinder(D.rimW, rimOR).subtract(cylinder(D.rimW + 2, rimIR).translate(0, 0, -1))
+    .translate(0, 0, D.rim.z0);
+
+  let rimPart = union(boss, webSolid, rimBand);
+
+  // cosmetic hub-face dimples (visible on the outboard web face)
+  for (const pt of circularLayout(hub.faceHoleN, hub.faceHoleR, { startDeg: 90 })) {
+    rimPart = rimPart.subtract(
+      cylinder(1.6, hub.faceHoleD / 2).translate(pt.x, pt.y, web.z0 + web.t - 1.5)
+    );
+  }
+  return rimPart.color(COL_TEAL).material({ metalness: 0.05, roughness: 0.45 });
+}
+
+function buildTire(D) {
+  const rimOR = D.rimOD / 2, tireOR = D.tireOD / 2;
+  let prof = rect(tireOR - rimOR, D.tireW).translate(rimOR + (tireOR - rimOR) / 2, D.tireW / 2);
+  prof = prof.filletCorner([tireOR, 0], 2.5).filletCorner([tireOR, D.tireW], 2.5);
+  return prof.revolve()
+    .translate(0, 0, D.rim.z0)
+    .color(COL_TIRE).material({ metalness: 0.0, roughness: 0.85 });
+}
+
+function buildShaft(D) {
+  // The N20 D-shaft rides in the wheel's D-bore and turns WITH the wheel, so it
+  // is modeled as a child of the wheel part (the motor keeps a short stub).
+  const M = D.motor;
+  const prof = circle2d(M.shaftD / 2)
+    .intersect(rect(M.shaftD + 0.4, M.shaftFlat).translate(0, M.shaftFlat / 2 - M.shaftD / 2));
+  return prof.extrude(8.5).translate(0, 0, -0.1)
+    .color('#d8dbe0').material({ metalness: 0.9, roughness: 0.25 });
+}
+
+// Returns the wheel as three separate single-body parts that share the same
+// local frame: the rim carries the joint bore plus identity seats for the tire
+// (stretch fit on the rim band) and the N20 D-shaft (turns with the wheel).
+function buildWheel(D) {
+  const idSeat = () => connector('mount', { origin: [0, 0, 0], axis: [0, 0, 1], up: [0, 1, 0], kind: 'fixed' });
+  const idChild = () => connector('mount', { origin: [0, 0, 0], axis: [0, 0, -1], up: [0, 1, 0], kind: 'fixed' });
+  const rimPart = buildRim(D).withConnectors({
+    bore: connector('axle', { origin: [0, 0, 0], axis: [0, 0, -1], up: [0, 1, 0], kind: 'revolute' }),
+    tire_seat: idSeat(),
+    shaft_seat: idSeat(),
+  });
+  const tirePart = buildTire(D).withConnectors({
+    seat: idChild(),
+    tread: connector('contact', {
+      origin: [0, -D.tireOD / 2, D.rim.z0 + D.tireW / 2],
+      axis: [0, -1, 0],
+      up: [0, 0, 1],
+    }),
+  });
+  const shaftPart = buildShaft(D).withConnectors({ seat: idChild() });
+  verify.clearanceBetween('tire seats on rim band', tirePart, rimPart, -0.01, 0.05);
+  verify.clearanceBetween('D-shaft rides in the D-bore', shaftPart, rimPart, 0.02, 0.15);
+  return { rim: rimPart, tire: tirePart, shaft: shaftPart };
+}
+
+const D = dimsMod.compute({ wall: wallP, wheelOD: wheelODP });
+
+if (require.main === module) {
+  scene({
+    camera: { position: [160, -150, 120], target: [0, 0, 17], fov: 40 },
+    environment: { preset: 'studio', intensity: 0.25, background: false },
+    lights: [
+      { type: 'ambient', color: '#efe7dc', intensity: 0.18 },
+      { type: 'directional', position: [140, -160, 220], color: '#ffe2bf', intensity: 2.6, castShadow: true },
+      { type: 'directional', position: [-130, 110, 110], color: '#d4e6fb', intensity: 0.8 },
+    ],
+  });
+  const wp = buildWheel(D);
+  return {
+    preview: [
+      { name: 'Rim', shape: wp.rim },
+      { name: 'Tire', shape: wp.tire },
+      { name: 'Drive Shaft', shape: wp.shaft },
+    ],
+    make: { buildWheel },
+  };
+}
+
+return { make: { buildWheel } };

package/examples/robotics/simready-asset-crate.forge.js

@@ -0,0 +1,79 @@
+const pine = Sim.material("pine crate", {
+  densityKgM3: 520,
+  staticFriction: 0.55,
+  dynamicFriction: 0.42,
+  restitution: 0.08,
+});
+
+const woodMaterial = { roughness: 0.78, metalness: 0.02 };
+const darkEndgrain = { roughness: 0.86, metalness: 0.01 };
+
+const rim = group(
+  { name: "Front Top Rail", shape: box(132, 8, 8).translate(0, -50, 37).color("#6f4a25").material(darkEndgrain) },
+  { name: "Back Top Rail", shape: box(132, 8, 8).translate(0, 50, 37).color("#6f4a25").material(darkEndgrain) },
+  { name: "Left Top Rail", shape: box(8, 92, 8).translate(-66, 0, 37).color("#6f4a25").material(darkEndgrain) },
+  { name: "Right Top Rail", shape: box(8, 92, 8).translate(66, 0, 37).color("#6f4a25").material(darkEndgrain) },
+);
+
+const cornerPosts = group(
+  { name: "Front Left Post", shape: box(10, 10, 78).translate(-64, -48, 0).color("#714d27").material(darkEndgrain) },
+  { name: "Front Right Post", shape: box(10, 10, 78).translate(64, -48, 0).color("#714d27").material(darkEndgrain) },
+  { name: "Back Left Post", shape: box(10, 10, 78).translate(-64, 48, 0).color("#714d27").material(darkEndgrain) },
+  { name: "Back Right Post", shape: box(10, 10, 78).translate(64, 48, 0).color("#714d27").material(darkEndgrain) },
+);
+
+const sideSlats = group(
+  { name: "Front Upper Slat", shape: box(118, 7, 12).translate(0, -52, 18).color("#81582c").material(woodMaterial) },
+  { name: "Front Lower Slat", shape: box(118, 7, 12).translate(0, -52, -12).color("#9a6a38").material(woodMaterial) },
+  { name: "Back Upper Slat", shape: box(118, 7, 12).translate(0, 52, 18).color("#81582c").material(woodMaterial) },
+  { name: "Back Lower Slat", shape: box(118, 7, 12).translate(0, 52, -12).color("#9a6a38").material(woodMaterial) },
+  { name: "Left Upper Slat", shape: box(7, 78, 12).translate(-70, 0, 18).color("#81582c").material(woodMaterial) },
+  { name: "Left Lower Slat", shape: box(7, 78, 12).translate(-70, 0, -12).color("#9a6a38").material(woodMaterial) },
+  { name: "Right Upper Slat", shape: box(7, 78, 12).translate(70, 0, 18).color("#81582c").material(woodMaterial) },
+  { name: "Right Lower Slat", shape: box(7, 78, 12).translate(70, 0, -12).color("#9a6a38").material(woodMaterial) },
+);
+
+const floorPlanks = group(
+  { name: "Floor Left", shape: box(36, 86, 8).translate(-40, 0, -36).color("#a8733d").material(woodMaterial) },
+  { name: "Floor Center", shape: box(36, 86, 8).translate(0, 0, -36).color("#b47b42").material(woodMaterial) },
+  { name: "Floor Right", shape: box(36, 86, 8).translate(40, 0, -36).color("#a8733d").material(woodMaterial) },
+);
+
+const forkliftSkids = group(
+  { name: "Left Fork Pocket", shape: box(112, 10, 8).translate(0, -28, -50).color("#6f4a25").material(darkEndgrain) },
+  { name: "Right Fork Pocket", shape: box(112, 10, 8).translate(0, 28, -50).color("#6f4a25").material(darkEndgrain) },
+  { name: "Left Spacer", shape: box(14, 10, 18).translate(-46, -28, -42).color("#714d27").material(darkEndgrain) },
+  { name: "Right Spacer", shape: box(14, 10, 18).translate(46, 28, -42).color("#714d27").material(darkEndgrain) },
+);
+
+const handles = group(
+  { name: "Front Handhold", shape: box(48, 5, 14).translate(0, -56, 3).color("#3f2a18").material({ roughness: 0.9 }) },
+  { name: "Back Handhold", shape: box(48, 5, 14).translate(0, 56, 3).color("#3f2a18").material({ roughness: 0.9 }) },
+);
+
+const crate = group(
+  { name: "Rim", group: rim },
+  { name: "Posts", group: cornerPosts },
+  { name: "Side Slats", group: sideSlats },
+  { name: "Floor Planks", group: floorPlanks },
+  { name: "Forklift Skids", group: forkliftSkids },
+  { name: "Handles", group: handles },
+).withConnectors({
+  grip: connector({ origin: [0, -56, 3], axis: [0, -1, 0], up: [0, 0, 1] }),
+  floor_contact: connector({ origin: [0, 0, -54], axis: [0, 0, -1], up: [1, 0, 0] }),
+});
+
+return assembly("SimReady Asset Crate")
+  .addPart("Body", crate, {
+    sim: Sim.body({
+      massKg: 2.4,
+      material: pine,
+      collider: Sim.collider.convexHull(),
+      contacts: {
+        grip: Sim.contact.gripperSurface("grip"),
+      },
+    }),
+  })
+  .withSimulation({
+    profile: Sim.profile.roboticsAssetPhysx(),
+  });

package/examples/robotics/simready-diff-drive-rover.forge.js

@@ -0,0 +1,141 @@
+const aluminum = Sim.material("6061 aluminum", {
+  densityKgM3: 2700,
+  staticFriction: 0.45,
+  dynamicFriction: 0.35,
+  restitution: 0.05,
+});
+
+const rubber = Sim.material("rubber tire", {
+  densityKgM3: 1100,
+  staticFriction: 0.9,
+  dynamicFriction: 0.75,
+  restitution: 0.12,
+});
+
+const darkPolymer = Sim.material("filled nylon", {
+  densityKgM3: 1250,
+  staticFriction: 0.42,
+  dynamicFriction: 0.32,
+  restitution: 0.04,
+});
+
+function wheel(axisY) {
+  const tireCore = cylinder(26, 34, undefined, 64).color("#171a1d").material({ roughness: 0.9 });
+  const treadBlocks = circularPattern(box(9, 5, 30).translate(0, 35, 0), 18).color("#24282c").material({ roughness: 0.95 });
+  const outerHub = cylinder(30, 14, undefined, 48).color("#a9b5bc").material({ metalness: 0.35, roughness: 0.42 });
+  const hubCap = cylinder(34, 7, undefined, 32).color("#3e4a52").material({ metalness: 0.25, roughness: 0.5 });
+
+  return group(
+    { name: "Tire", shape: tireCore },
+    { name: "Tread", shape: treadBlocks },
+    { name: "Hub", shape: outerHub },
+    { name: "Cap", shape: hubCap },
+  )
+    .rotateX(90)
+    .withConnectors({
+      bore: connector({ origin: [0, 0, 0], axis: [0, axisY, 0], up: [0, 0, 1], kind: "revolute" }),
+      tread: connector({ origin: [0, 0, -36], axis: [0, 0, -1], up: [1, 0, 0] }),
+    });
+}
+
+const chassis = group(
+  { name: "Lower Pan", shape: box(228, 118, 26).translate(0, 0, 22).color("#46545d").material({ metalness: 0.18, roughness: 0.48 }) },
+  { name: "Upper Deck", shape: box(164, 88, 16).translate(8, 0, 46).color("#62727b").material({ metalness: 0.22, roughness: 0.44 }) },
+  { name: "Front Bumper", shape: box(18, 124, 20).translate(122, 0, 26).color("#262d33").material({ roughness: 0.72 }) },
+  { name: "Rear Bumper", shape: box(14, 116, 16).translate(-122, 0, 24).color("#2d353b").material({ roughness: 0.7 }) },
+  { name: "Left Rocker Guard", shape: box(194, 9, 16).translate(0, 68, 24).color("#252c31").material({ roughness: 0.72 }) },
+  { name: "Right Rocker Guard", shape: box(194, 9, 16).translate(0, -68, 24).color("#252c31").material({ roughness: 0.72 }) },
+  { name: "Sensor Mast", shape: cylinder(34, 5, undefined, 24).translate(58, 0, 72).color("#1c242b").material({ roughness: 0.58 }) },
+  { name: "Lidar", shape: cylinder(16, 22, undefined, 48).translate(58, 0, 98).color("#c7d0d6").material({ metalness: 0.1, roughness: 0.35 }) },
+  { name: "Camera Bar", shape: box(8, 52, 12).translate(129, 0, 44).color("#161b20").material({ roughness: 0.6 }) },
+)
+  .withConnectors({
+    left_front_axle: connector({ origin: [72, 82, 30], axis: [0, 1, 0], up: [0, 0, 1], kind: "revolute" }),
+    left_rear_axle: connector({ origin: [-72, 82, 30], axis: [0, 1, 0], up: [0, 0, 1], kind: "revolute" }),
+    right_front_axle: connector({ origin: [72, -82, 30], axis: [0, -1, 0], up: [0, 0, 1], kind: "revolute" }),
+    right_rear_axle: connector({ origin: [-72, -82, 30], axis: [0, -1, 0], up: [0, 0, 1], kind: "revolute" }),
+  });
+
+const leftWheel = wheel(-1);
+const rightWheel = wheel(1);
+
+const rover = assembly("SimReady Diff Drive Rover")
+  .addPart("Chassis", chassis, {
+    sim: Sim.body({
+      massKg: 4.2,
+      material: aluminum,
+      collider: Sim.collider.convexHull(),
+    }),
+  })
+  .addPart("Left Front Wheel", leftWheel, {
+    sim: Sim.body({
+      massKg: 0.32,
+      material: rubber,
+      collider: Sim.collider.convexHull(),
+      contacts: { tread: Sim.contact.wheelSurface("tread") },
+    }),
+  })
+  .addPart("Left Rear Wheel", leftWheel, {
+    sim: Sim.body({
+      massKg: 0.32,
+      material: rubber,
+      collider: Sim.collider.convexHull(),
+      contacts: { tread: Sim.contact.wheelSurface("tread") },
+    }),
+  })
+  .addPart("Right Front Wheel", rightWheel, {
+    sim: Sim.body({
+      massKg: 0.32,
+      material: rubber,
+      collider: Sim.collider.convexHull(),
+      contacts: { tread: Sim.contact.wheelSurface("tread") },
+    }),
+  })
+  .addPart("Right Rear Wheel", rightWheel, {
+    sim: Sim.body({
+      massKg: 0.32,
+      material: rubber,
+      collider: Sim.collider.convexHull(),
+      contacts: { tread: Sim.contact.wheelSurface("tread") },
+    }),
+  })
+  .connect("Chassis.left_front_axle", "Left Front Wheel.bore", {
+    as: "leftFrontWheel",
+    type: "revolute",
+    drive: Sim.drive.velocity({ maxTorqueNm: 1.8, maxSpeedRpm: 220, damping: 0.02, friction: 0.01 }),
+  })
+  .connect("Chassis.left_rear_axle", "Left Rear Wheel.bore", {
+    as: "leftRearWheel",
+    type: "revolute",
+    drive: Sim.drive.velocity({ maxTorqueNm: 1.8, maxSpeedRpm: 220, damping: 0.02, friction: 0.01 }),
+  })
+  .connect("Chassis.right_front_axle", "Right Front Wheel.bore", {
+    as: "rightFrontWheel",
+    type: "revolute",
+    drive: Sim.drive.velocity({ maxTorqueNm: 1.8, maxSpeedRpm: 220, damping: 0.02, friction: 0.01 }),
+  })
+  .connect("Chassis.right_rear_axle", "Right Rear Wheel.bore", {
+    as: "rightRearWheel",
+    type: "revolute",
+    drive: Sim.drive.velocity({ maxTorqueNm: 1.8, maxSpeedRpm: 220, damping: 0.02, friction: 0.01 }),
+  })
+  .withSimulation({
+    rootPart: "Chassis",
+    profile: Sim.profile.robotBodyRunnable(),
+    controllers: [
+      Sim.controller.diffDrive({
+        leftJoints: ["leftFrontWheel", "leftRearWheel"],
+        rightJoints: ["rightFrontWheel", "rightRearWheel"],
+        wheelRadiusMm: 34,
+        wheelSeparationMm: 164,
+      }),
+    ],
+  });
+
+verify.that("rover has five physical bodies", () => rover.describe().parts.length === 5);
+verify.that("rover has four driven wheel joints", () => rover.describe().joints.length === 4);
+verify.that("rover keeps wheel contact metadata on every wheel", () => {
+  return rover.describe().parts.filter((part) => part.sim?.contacts?.tread).length === 4;
+});
+
+return rover;

package/examples/robotics/simready-parallel-gripper.forge.js

@@ -0,0 +1,102 @@
+const aluminum = Sim.material("anodized aluminum", {
+  densityKgM3: 2700,
+  staticFriction: 0.44,
+  dynamicFriction: 0.32,
+  restitution: 0.04,
+});
+
+const urethane = Sim.material("urethane pad", {
+  densityKgM3: 1250,
+  staticFriction: 0.95,
+  dynamicFriction: 0.8,
+  restitution: 0.08,
+});
+
+const palm = group(
+  { name: "Palm Body", shape: box(36, 72, 24).translate(-28, 0, 8).color("#596872").material({ metalness: 0.2, roughness: 0.42 }) },
+  { name: "Top Cover", shape: box(44, 64, 5).translate(-28, 0, 23).color("#75858e").material({ metalness: 0.18, roughness: 0.38 }) },
+  { name: "Front Slide Rail", shape: cylinder(74, 3.2, undefined, 24).pointAlong([0, 1, 0]).translate(0, 0, 13).color("#c2c9cc").material({ metalness: 0.55, roughness: 0.32 }) },
+  { name: "Rear Slide Rail", shape: cylinder(74, 3.2, undefined, 24).pointAlong([0, 1, 0]).translate(-38, 0, 13).color("#c2c9cc").material({ metalness: 0.55, roughness: 0.32 }) },
+  { name: "Lead Screw", shape: cylinder(80, 2.2, undefined, 20).pointAlong([0, 1, 0]).translate(-19, 0, 5).color("#2f363b").material({ metalness: 0.4, roughness: 0.38 }) },
+  { name: "Motor Cap", shape: cylinder(16, 11, undefined, 36).pointAlong([0, 1, 0]).translate(-28, -46, 8).color("#222a2f").material({ roughness: 0.56 }) },
+)
+  .withConnectors({
+    left_slide: connector({ origin: [0, 27, 13], axis: [0, 1, 0], up: [0, 0, 1], kind: "prismatic", min: 0, max: 18 }),
+    right_slide: connector({ origin: [0, -27, 13], axis: [0, -1, 0], up: [0, 0, 1], kind: "prismatic", min: 0, max: 18 }),
+  });
+
+function finger(axisY, color) {
+  const carriage = box(28, 15, 16).translate(-14, 0, 0).color("#39464e").material({ metalness: 0.12, roughness: 0.48 });
+  const upperFinger = box(78, 8, 9).translate(38, 0, 5).color(color).material({ metalness: 0.08, roughness: 0.44 });
+  const lowerFinger = box(62, 7, 8).translate(48, 0, -13).color(color).material({ metalness: 0.08, roughness: 0.48 });
+  const frontBridge = box(9, 8, 24).translate(76, 0, -4).color(color).material({ metalness: 0.08, roughness: 0.46 });
+  const pad = box(30, 3, 16).translate(60, -axisY * 6, -8).color("#20252a").material({ roughness: 0.9 });
+  const padRibA = box(26, 1, 2).translate(60, -axisY * 8, -13).color("#121619").material({ roughness: 0.95 });
+  const padRibB = box(26, 1, 2).translate(60, -axisY * 8, -8).color("#121619").material({ roughness: 0.95 });
+  const padRibC = box(26, 1, 2).translate(60, -axisY * 8, -3).color("#121619").material({ roughness: 0.95 });
+
+  return group(
+    { name: "Carriage", shape: carriage },
+    { name: "Upper Finger", shape: upperFinger },
+    { name: "Lower Finger", shape: lowerFinger },
+    { name: "Front Bridge", shape: frontBridge },
+    { name: "Pad", shape: pad },
+    { name: "Pad Rib A", shape: padRibA },
+    { name: "Pad Rib B", shape: padRibB },
+    { name: "Pad Rib C", shape: padRibC },
+  ).withConnectors({
+    slide: connector({ origin: [0, 0, 0], axis: [0, -axisY, 0], up: [0, 0, 1], kind: "prismatic", min: 0, max: 18 }),
+    pad: connector({ origin: [60, -axisY * 8, -8], axis: [0, -axisY, 0], up: [0, 0, 1] }),
+  });
+}
+
+const gripper = assembly("SimReady Parallel Gripper")
+  .addPart("Palm", palm, {
+    sim: Sim.body({
+      massKg: 0.42,
+      material: aluminum,
+      collider: Sim.collider.boundingBox(),
+    }),
+  })
+  .addPart("Left Finger", finger(1, "#d66b4f"), {
+    sim: Sim.body({
+      massKg: 0.11,
+      material: urethane,
+      collider: Sim.collider.convexHull(),
+      contacts: { pad: Sim.contact.gripperSurface("pad") },
+    }),
+  })
+  .addPart("Right Finger", finger(-1, "#d66b4f"), {
+    sim: Sim.body({
+      massKg: 0.11,
+      material: urethane,
+      collider: Sim.collider.convexHull(),
+      contacts: { pad: Sim.contact.gripperSurface("pad") },
+    }),
+  })
+  .connect("Palm.left_slide", "Left Finger.slide", {
+    as: "leftFingerOpen",
+    type: "prismatic",
+    min: 0,
+    max: 18,
+    drive: Sim.drive.passive({ damping: 0.04, friction: 0.02 }),
+  })
+  .connect("Palm.right_slide", "Right Finger.slide", {
+    as: "rightFingerOpen",
+    type: "prismatic",
+    min: 0,
+    max: 18,
+    drive: Sim.drive.passive({ damping: 0.04, friction: 0.02 }),
+  })
+  .withSimulation({
+    rootPart: "Palm",
+    profile: Sim.profile.robotBodyRunnable(),
+  });
+
+verify.that("gripper exposes grasp surfaces", () => {
+  const parts = gripper.describe().parts;
+  return parts.filter((part) => part.sim?.contacts?.pad).length === 2;
+});
+verify.that("gripper has a compact three-body simulation contract", () => gripper.describe().parts.length === 3);
+
+return gripper;

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "forgecad",
-  "version": "0.9.16",
+  "version": "0.10.1",
   "description": "Code-first parametric CAD for JavaScript/TypeScript, in the browser and CLI.",
   "license": "SEE LICENSE IN LICENSE",
   "homepage": "https://forgecad.io",