[System]
You are participating in Blender-Bench, a public benchmark where AI models complete the same Blender task.

Your result will be compared head-to-head with another model. Anyone on the internet can vote based on two equally important published views: a 2D rendered presentation and an interactive 3D scene exported to GLB. Treat neither view as optional; make the result clear and compelling in both.

Complete the request as well as you can. The benchmark does not prescribe a workflow or visual style; use whichever Blender techniques you consider appropriate. Make the important requirements evident in the published result, save a complete scene, and present the work clearly in every requested output.

The 2D presentation is rendered by the benchmark from your saved scene using Cycles at 1536 x 1536, 64 samples, denoising enabled, and GPU acceleration when available with a CPU fallback. It is the native-fidelity view of the Blender scene, so you may use Blender's full feature set. Preview and validate your materials, lighting, color management, and camera composition in Cycles, and do not rely on EEVEE-only effects for the final appearance.

The interactive 3D view is a best-effort GLB export containing geometry, compatible materials, the contestant camera, and supported lights. Because glTF cannot represent every Blender feature, native effects such as particles, hair or curves, volumes, simulations, and some procedural geometry may appear only in the 2D render. The benchmark may also generate a separate preview GLB by baking supported procedural material inputs to textures; this does not convert unsupported geometry or guarantee exact parity with Blender. When practical, keep the core form and scene readable in the 3D view while using the 2D presentation to show native Blender features faithfully.

## Harness Instructions

You are operating Blender through the provided tools. Tool calls execute one at a time, in the order you issue them, against a single live Blender instance — each call sees the state left by the previous one, and issuing several calls in one message gains no parallelism. The scene starts empty. Build what the user's prompt asks for in the current scene. Work step by step and verify your own work.

This task is judged purely as three-dimensional work: evaluators inspect the scene itself — geometry, structure, and, where the task asks for them, materials — from every viewpoint. There is no presentation render to compose: the benchmark captures your saved scene with its own neutral camera and lighting, so do not spend effort on cameras or presentation lighting unless the task asks for them. Use whatever Blender features best serve the result; a best-effort GLB export is also provided for interactive inspection, and features glTF cannot represent are not expected to survive it. When you are finished, reply with the single word DONE and no tool calls.

[User]
## Task

Complete the following Blender task:

<task>

A desk-mounted robotic arm with at least four articulated joints, posed mid-reach toward a small object on the desk — not a generic industrial catalog robot, but a refined experimental machine built from a combination of precision mechanical assemblies and selectively generative structural elements.

The arm's main load-bearing struts are topology-optimized: organic metal members with smooth branching transitions, controlled lattice openings, and carefully shaped voids where material has been removed according to structural load. These parametric forms should appear only on the elongated structural links between joints. They must not continue into the base, rotary joints, wrist, actuators, or end effector. Each optimized strut should feel like a purpose-grown structural component installed within an otherwise conventional mechanical system.

All joints and connection points should be clearly assembled engineering components: machined cylindrical housings, bearings, rotary actuators, bolted flanges, hinge pins, compact gearboxes, brackets, covers, and replaceable interface plates. The base should be a clean, stable mechanical assembly with a visible rotating platform and mounting hardware. Avoid ornamental latticework in these areas. The contrast between the organic optimized struts and the precise modular joint assemblies is the design centerpiece.

Remove exposed corrugated pipes, aged tubing, rust, corrosion, or distressed materials. Cable routing should be minimal and controlled, using slim black electrical lines, internal channels, recessed cable guides, or compact articulated conduits integrated close to the structure. Nothing should appear improvised, draped, weathered, or steampunk.

Instead of heavy woven fabric, use a very restrained translucent technical membrane only where useful. Thin semi-transparent polymer panels or tensioned mesh can span selected openings within the optimized struts, lightly revealing the structure beneath. The material should resemble clear reinforced film, translucent TPU, or fine architectural mesh rather than carbon fiber or ballistic cloth. It should feel protective and lightweight, not decorative. This membrane may also be omitted from some segments so the metal structure remains visually dominant.

The manipulator should not use a three-clawed radial gripper. Replace it with a compact two-finger parallel gripper or a refined adaptive pincer mechanism. The fingers should be mechanically designed from solid machined components with small replaceable contact pads, visible pivots, and believable actuation. Do not use topology-optimized lattice geometry on the fingers. The end effector should look precise, stable, and suitable for picking up small desk objects rather than aggressive or creature-like.

The mechanics must remain fully believable: visible rotational axes at every joint, plausible actuator placement, clear mechanical interfaces between segments, realistic joint limits, and sensible tapering from the heavy base to the smaller wrist and gripper. The pose must respect the joint layout, with no intersecting parts, impossible bends, unsupported structures, or decorative mechanisms that do not explain their function.

Mount the arm on a simple desk surface, reaching toward a small machined object so the pose reads. Nothing else: the arm is judged as an engineered mechanism from every angle — how each joint is assembled, how the struts carry load, how the gripper works — and the mechanical story must hold up from any viewpoint, including from behind and below.

</task>

        Execute Python code in the connected Blender instance.

        The code runs in Blender's Python environment with full access to ``bpy``.
        To return data, assign a JSON-serialisable dict to a variable named ``result``.
        Deferred completion via ``check_is_finished`` is only supported by the
        interactive addon server, and is rejected in background mode.

Code

execute_blender_codeArguments

        Execute Python code in a background Blender process.

        Opens *blend_file* with ``blender --background`` and runs *code*.
        Assign a dict to ``result`` to return data.

Blend File

Code

execute_blender_code_for_cliArguments

Return a summary of the blend file: data-block counts, active workspace, and render engine.

get_blendfile_summary_datablocksArguments

Return a data-block summary by opening *blend_file* in background Blender.

Blend File

get_blendfile_summary_datablocks_for_cliArguments

        Report external file references that are missing from disk
        (images, libraries, fonts, sounds, movie clips, caches, sequences).

get_blendfile_summary_missing_filesArguments

Report missing file references by opening *blend_file* in background Blender.

Blend File

get_blendfile_summary_missing_files_for_cliArguments

Return a tree of directly and indirectly linked library files.

get_blendfile_summary_of_linked_librariesArguments

Return linked-library info by opening *blend_file* in background Blender.

Blend File

get_blendfile_summary_of_linked_libraries_for_cliArguments

Simple/fast access to the blend file's path, save status, age, and backups.

get_blendfile_summary_path_infoArguments

Return path info by opening *blend_file* in background Blender.

Blend File

get_blendfile_summary_path_info_for_cliArguments

Guess the primary use-cases of the current blend file (scored 0-100 with certainty).

get_blendfile_summary_usage_guessArguments

Guess use-cases by opening *blend_file* in background Blender.

Blend File

get_blendfile_summary_usage_guess_for_cliArguments

        Return a structured summary of the object identified by *name*.

        Includes type, transforms, parent, children, modifiers, constraints,
        materials, visibility, data-block name, and collections.

Name

get_object_detail_summaryArguments

        Return the scene's collection hierarchy and their objects.

        Each collection lists its objects (name, type, parent, data name,
        selection, visibility) and nested child collections.

get_objects_summaryArguments

        Return the Blender Python API docs for *identifier*, or list
        modules matching a trailing-``*`` discovery pattern.

        *identifier* should be a fully-qualified Python name (e.g.
        ``bpy.app`` or ``bpy.types.Scene.frame_current``).
        The trailing-``*`` forms are supported as discovery entry-points:

        - ``*`` enumerates the top-level modules (``bpy``, ``bmesh``,
          ``mathutils``, ``gpu``, ...).
        - ``X.*`` enumerates the direct-child identifiers under the
          *X* namespace (``bpy.*`` -> ``bpy.app``, ``bpy.context``, ...).

        Both return a ``namespace`` response even when ``X.rst`` would
        otherwise resolve to ``exact``; the ``.*`` form lets an agent
        force the child listing.

        The response always carries ``kind``, ``found``, and ``identifier``.
        The remaining keys depend on ``kind``:

        - ``"exact"`` (``found=True``): ``<identifier>.rst`` was read.
          Extra keys: ``content`` (RST text), ``examples``. When the
          file exceeds 32 KB, ``content`` is replaced with a dot-point
          summary of the file's top-level definitions (prefixed by a
          header noting the truncation) and ``examples`` is empty -
          re-query individual members for their rendered blocks.
        - ``"namespace"`` (``found=True``):
          no ``<identifier>.rst`` but ``<identifier>.<child>.rst`` siblings exist.
          Extra key: ``submodules`` (list of child identifiers).
        - ``"definition"`` (``found=True``):
          *identifier* is defined inside a parent RST
          (e.g. ``bpy.props.IntProperty`` lives in ``bpy.props.rst``).
          Extra keys: ``content`` (rendered block), ``examples``.
        - ``"partial"`` (``found=False``):
          the parent RST was located but the trailing component isn't defined in it.
          Extra keys:
          - ``parent`` the identifier whose RST was loaded.
          - ``available`` top-level definitions in that RST.
          - ``submodules`` sibling identifiers ``<parent>.<child>`` with their own RSTs,
            filtered to those whose last component contains every character of the missing tail.

          For a toctree landing page like ``bpy.types`` ``available`` is empty and ``submodules``
          is the near-miss list; for a self-contained module like ``bpy.props`` it's the reverse.
        - ``"suggestions"`` (``found=False``):
          no direct match, but *identifier* appears as a component of other files.
          Extra key: ``suggestions`` (list of full identifiers).
        - ``"missing"`` (``found=False``): nothing matched.

        ``examples`` (present on the ``exact`` and ``definition`` kinds)
        is a list of ``{path, content}`` entries referenced from this documentation.

Identifier

get_python_api_docsArguments

        Take a screenshot of a single Blender area and return it as a PNG image.

        *area_ui_type* matches the area's ``ui_type``.

        *size_limit_in_bytes* caps the image size in bytes.
        Zero (the default) uses the MCP message size limit.

Area Ui Type

Size Limit In Bytes

get_screenshot_of_area_as_imageArguments

        Take a screenshot of the entire Blender window and return it as a PNG image.

        *size_limit_in_bytes* caps the image size in bytes.
        Zero (the default) uses the MCP message size limit.

Size Limit In Bytes

get_screenshot_of_window_as_imageArguments

Return a JSON description of the Blender window layout, areas, active object, and selection.

get_screenshot_of_window_as_jsonArguments

Switch the active workspace tab to *name*.

Name

jump_to_tab_by_nameArguments

        Switch to a workspace whose main area matches *space_type*.

        If *allow_edits* is True and no matching workspace exists, a new one
        is created by duplicating the current workspace.

Space Type

Allow Edits

jump_to_tab_by_space_typeArguments

        Move the 3D viewport to focus on an object by *name*.

        If *allow_edits* is True the object may be un-hidden and its
        collections enabled to make it visible.

Name

Allow Edits

        Move the 3D viewport to the object whose data block matches *name*.

        If *allow_edits* is True the object may be un-hidden and its
        collections enabled to make it visible.

Name

Allow Edits

Render a small, low-quality thumbnail to *output_path* (temporarily overrides settings).

Output Path

render_thumbnail_to_pathArguments

Render the current scene to *output_path* using current render settings.

Output Path

render_viewport_to_pathArguments

Full-text search over the bundled Blender Python API reference.

Returns a ranked list of hits. Each hit has:

- ``path``: file path relative to the bundled docs.
- ``text``: the matching paragraph plus ``context``
  paragraphs on either side.
- ``breadcrumb``: the section path containing the hit
  (``Section > Sub-section > ...``).
- ``index``: the hit's position in the result list.
- ``score``: a relevance score; higher is better.

The query is tokenised on whitespace and matched
case-insensitively. Every token must appear somewhere in
the paragraph body, the file path, or an enclosing section
title - in any order. Common English stop-words (``the``,
``a``, ``how``, ``to``, ...) are dropped, so natural
phrasings like ``"how to bake"`` work as expected. Regular
expressions are not supported.

Use ``context`` to pull more surrounding paragraphs into
each hit (symmetric, default 0). Use ``index`` with the
position of a previous hit (same query) to get that hit
alone with its text widened to its enclosing section.

Read-only; consults bundled RST files only.

Query

Max Results

Context

Index

search_api_docsArguments

Full-text search over the bundled Blender user manual.

Returns a ranked list of hits. Each hit has:

- ``path``: file path relative to the bundled docs.
- ``text``: the matching paragraph plus ``context``
  paragraphs on either side.
- ``breadcrumb``: the section path containing the hit
  (``Section > Sub-section > ...``).
- ``index``: the hit's position in the result list.
- ``score``: a relevance score; higher is better.

The query is tokenised on whitespace and matched
case-insensitively. Every token must appear somewhere in
the paragraph body, the file path, or an enclosing section
title - in any order. Common English stop-words (``the``,
``a``, ``how``, ``to``, ...) are dropped, so natural
phrasings like ``"how to bake"`` work as expected. Regular
expressions are not supported.

Use ``context`` to pull more surrounding paragraphs into
each hit (symmetric, default 0). Use ``index`` with the
position of a previous hit (same query) to get that hit
alone with its text widened to its enclosing section.

Read-only; consults bundled RST files only.

Query

Max Results

Context

Index

search_manual_docsArguments

[System]
You are participating in Blender-Bench, a public benchmark where AI models complete the same Blender task.

Your result will be compared head-to-head with another model. Anyone on the internet can vote based on two equally important published views: a 2D rendered presentation and an interactive 3D scene exported to GLB. Treat neither view as optional; make the result clear and compelling in both.

Complete the request as well as you can. The benchmark does not prescribe a workflow or visual style; use whichever Blender techniques you consider appropriate. Make the important requirements evident in the published result, save a complete scene, and present the work clearly in every requested output.

The 2D presentation is rendered by the benchmark from your saved scene using Cycles at 1536 x 1536, 64 samples, denoising enabled, and GPU acceleration when available with a CPU fallback. It is the native-fidelity view of the Blender scene, so you may use Blender's full feature set. Preview and validate your materials, lighting, color management, and camera composition in Cycles, and do not rely on EEVEE-only effects for the final appearance.

The interactive 3D view is a best-effort GLB export containing geometry, compatible materials, the contestant camera, and supported lights. Because glTF cannot represent every Blender feature, native effects such as particles, hair or curves, volumes, simulations, and some procedural geometry may appear only in the 2D render. The benchmark may also generate a separate preview GLB by baking supported procedural material inputs to textures; this does not convert unsupported geometry or guarantee exact parity with Blender. When practical, keep the core form and scene readable in the 3D view while using the 2D presentation to show native Blender features faithfully.

## Harness Instructions

You are operating Blender through the provided tools. Tool calls execute one at a time, in the order you issue them, against a single live Blender instance — each call sees the state left by the previous one, and issuing several calls in one message gains no parallelism. The scene starts empty. Build what the user's prompt asks for in the current scene. Work step by step and verify your own work.

This task is judged purely as three-dimensional work: evaluators inspect the scene itself — geometry, structure, and, where the task asks for them, materials — from every viewpoint. There is no presentation render to compose: the benchmark captures your saved scene with its own neutral camera and lighting, so do not spend effort on cameras or presentation lighting unless the task asks for them. Use whatever Blender features best serve the result; a best-effort GLB export is also provided for interactive inspection, and features glTF cannot represent are not expected to survive it. When you are finished, reply with the single word DONE and no tool calls.

[User]
## Task

Complete the following Blender task:

<task>

A desk-mounted robotic arm with at least four articulated joints, posed mid-reach toward a small object on the desk — not a generic industrial catalog robot, but a refined experimental machine built from a combination of precision mechanical assemblies and selectively generative structural elements.

The arm's main load-bearing struts are topology-optimized: organic metal members with smooth branching transitions, controlled lattice openings, and carefully shaped voids where material has been removed according to structural load. These parametric forms should appear only on the elongated structural links between joints. They must not continue into the base, rotary joints, wrist, actuators, or end effector. Each optimized strut should feel like a purpose-grown structural component installed within an otherwise conventional mechanical system.

All joints and connection points should be clearly assembled engineering components: machined cylindrical housings, bearings, rotary actuators, bolted flanges, hinge pins, compact gearboxes, brackets, covers, and replaceable interface plates. The base should be a clean, stable mechanical assembly with a visible rotating platform and mounting hardware. Avoid ornamental latticework in these areas. The contrast between the organic optimized struts and the precise modular joint assemblies is the design centerpiece.

Remove exposed corrugated pipes, aged tubing, rust, corrosion, or distressed materials. Cable routing should be minimal and controlled, using slim black electrical lines, internal channels, recessed cable guides, or compact articulated conduits integrated close to the structure. Nothing should appear improvised, draped, weathered, or steampunk.

Instead of heavy woven fabric, use a very restrained translucent technical membrane only where useful. Thin semi-transparent polymer panels or tensioned mesh can span selected openings within the optimized struts, lightly revealing the structure beneath. The material should resemble clear reinforced film, translucent TPU, or fine architectural mesh rather than carbon fiber or ballistic cloth. It should feel protective and lightweight, not decorative. This membrane may also be omitted from some segments so the metal structure remains visually dominant.

The manipulator should not use a three-clawed radial gripper. Replace it with a compact two-finger parallel gripper or a refined adaptive pincer mechanism. The fingers should be mechanically designed from solid machined components with small replaceable contact pads, visible pivots, and believable actuation. Do not use topology-optimized lattice geometry on the fingers. The end effector should look precise, stable, and suitable for picking up small desk objects rather than aggressive or creature-like.

The mechanics must remain fully believable: visible rotational axes at every joint, plausible actuator placement, clear mechanical interfaces between segments, realistic joint limits, and sensible tapering from the heavy base to the smaller wrist and gripper. The pose must respect the joint layout, with no intersecting parts, impossible bends, unsupported structures, or decorative mechanisms that do not explain their function.

Mount the arm on a simple desk surface, reaching toward a small machined object so the pose reads. Nothing else: the arm is judged as an engineered mechanism from every angle — how each joint is assembled, how the struts carry load, how the gripper works — and the mechanical story must hold up from any viewpoint, including from behind and below.

</task>

Code

execute_blender_codeArguments

Blend File

Code

execute_blender_code_for_cliArguments

get_blendfile_summary_datablocksArguments

Blend File

Blend File

Blend File

get_blendfile_summary_path_infoArguments

Blend File

get_blendfile_summary_usage_guessArguments

Blend File

Name

get_object_detail_summaryArguments

get_objects_summaryArguments

Identifier

get_python_api_docsArguments

Area Ui Type

Size Limit In Bytes

get_screenshot_of_area_as_imageArguments

Size Limit In Bytes

get_screenshot_of_window_as_imageArguments

get_screenshot_of_window_as_jsonArguments

Switch the active workspace tab to *name*.

Name

jump_to_tab_by_nameArguments

Space Type

Allow Edits

jump_to_tab_by_space_typeArguments

Name

Allow Edits

Name

Allow Edits

Output Path

render_thumbnail_to_pathArguments

Output Path

render_viewport_to_pathArguments

Query

Max Results

Context

Index

search_api_docsArguments

Query

Max Results

Context

Index

search_manual_docsArguments

payment=(self "https://checkout.stripe.com" "https://connect-js.stripe.com" "https://js.stripe.com" "https://*.js.stripe.com" "https://hooks.stripe.com")

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

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: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

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: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

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: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

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: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

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data: [DONE]

import bpy, math
from mathutils import Vector
# clear
bpy.ops.object.select_all(action='SELECT'); bpy.ops.object.delete(use_global=False)
for d in (bpy.data.meshes, bpy.data.curves, bpy.data.materials, bpy.data.cameras, bpy.data.lights):
    pass
# materials
def mat(name,color,metal=0.0,rough=.35,trans=0):
 m=bpy.data.materials.new(name); m.diffuse_color=(*color,1); m.use_nodes=True
 bs=m.node_tree.nodes.get('Principled BSDF'); bs.inputs['Base Color'].default_value=(*color,1); bs.inputs['Metallic'].default_value=metal; bs.inputs['Roughness'].default_value=rough
 if trans: bs.inputs['Transmission Weight'].default_value=trans; bs.inputs['Alpha'].default_value=.32; m.surface_render_method='DITHERED'
 return m
steel=mat('Anodized graphite structural metal',(0.075,.10,.12),.88,.22)
edge=mat('Machined titanium edges',(.32,.38,.42),.92,.18)
dark=mat('Actuator black',(.018,.022,.025),.8,.2)
blue=mat('Interface blue anodize',(.035,.16,.28),.85,.2)
rubber=mat('Grip pads',(.025,.03,.032),.1,.5)
mem=mat('Technical translucent TPU',(.18,.5,.62),.15,.22,.65)
wood=mat('Desk surface',(.16,.075,.035),.05,.28)
red=mat('Target object',(.55,.09,.035),.75,.18)
# funcs
def cube(n,loc,scale,ma,bev=.05):
 bpy.ops.mesh.primitive_cube_add(location=loc); o=bpy.context.object; o.name=n; o.scale=scale; bpy.ops.object.transform_apply(location=False,rotation=False,scale=True)
 if bev: mod=o.modifiers.new('Precision edge radii','BEVEL'); mod.width=bev; mod.segments=3
 o.data.materials.append(ma); return o
def cyl(n,loc,r,depth,ma,dir=None,verts=32):
 bpy.ops.mesh.primitive_cylinder_add(vertices=verts,radius=r,depth=depth,location=loc); o=bpy.context.object; o.name=n
 if dir: o.rotation_mode='QUATERNION'; o.rotation_quaternion=Vector((0,0,1)).rotation_difference(Vector(dir).normalized())
 o.data.materials.append(ma); be=o.modifiers.new('Machined edge','BEVEL'); be.width=min(r*.16,.04); be.segments=2; return o
def rod(n,a,b,r,ma): return cyl(n,(Vector(a)+Vector(b))/2,r,(Vector(b)-Vector(a)).length,ma,Vector(b)-Vector(a))
def torus(n,loc,major,minor,ma,rot=(0,0,0)):
 bpy.ops.mesh.primitive_torus_add(major_radius=major,minor_radius=minor,major_segments=32,minor_segments=10,location=loc,rotation=rot); o=bpy.context.object;o.name=n;o.data.materials.append(ma);return o
def bolt_circle(center,axis,radius,count,bolt_r,depth,ma):
 # circle in xy around center, mostly for horizontal flange
 for i in range(count):
  a=2*math.pi*i/count; cyl('Flange bolt', (center[0]+radius*math.cos(a),center[1]+radius*math.sin(a),center[2]+depth/2),bolt_r,depth,ma)
def joint(n,p,rad,depth,axis=(0,0,1),color=steel):
 # housing and collars along axis
 cyl(n+' housing',p,rad,depth,color,axis); v=Vector(axis).normalized();
 cyl(n+' front bearing',Vector(p)+v*(depth*.52),rad*1.12,.12,edge,axis); cyl(n+' rear cover',Vector(p)-v*(depth*.52),rad*.9,.10,dark,axis)
 return p
# desk
cube('Clean desk', (0,0,-.12),(4.8,3.4,.12),wood,.08)
# mounting plate and base
cube('Mounting plate',(0,0,.08),(1.05,.9,.10),edge,.06); bolt_circle((0,0,.18),(0,0,1),.78,6,.065,.10,dark)
cyl('Base rotating platform',(0,0,.34),.78,.28,steel); torus('Platform bearing',(0,0,.49),.62,.07,edge)
cyl('Base rotary actuator',(0,0,.58),.52,.38,dark); cyl('Base upper flange',(0,0,.79),.62,.12,blue); bolt_circle((0,0,.85),(0,0,1),.48,8,.045,.08,edge)
# key points
P0=Vector((0,0,1.02)); P1=Vector((.25,.03,2.15)); P2=Vector((1.85,.10,2.65)); P3=Vector((3.15,.25,2.05)); P4=Vector((3.85,.18,1.55)); P5=Vector((4.25,.12,1.35))
# shoulder joint vertical-ish
joint('Shoulder rotary',P0,.38,.44,(0,1,0),dark); cyl('Shoulder flange',P0+Vector((0,.24,0)),.48,.10,blue,(0,1,0));
# optimized strut function rails + braces and membrane
def opt_link(n,a,b,w1,w2):
 a,b=Vector(a),Vector(b); d=(b-a).normalized(); side=d.cross(Vector((0,0,1)))
 if side.length<.2: side=d.cross(Vector((0,1,0)))
 side.normalize(); up=side.cross(d).normalized()
 # nodes inset and rail ends
 for s in (-1,1): rod(n+' optimized rail',a+side*w1*s,b+side*w2*s,max(.075,w1*.18),steel)
 # tapered organic shoulders at ends
 rod(n+' upper transition',a+side*w1,a+d*.38+side*w2*.72,w1*.22,edge); rod(n+' lower transition',a-side*w1,a+d*.38-side*w2*.72,w1*.22,edge)
 rod(n+' far transition',b+side*w2,b-d*.38+side*w1*.72,w2*.22,edge); rod(n+' far transition',b-side*w2,b-d*.38-side*w1*.72,w2*.22,edge)
 # diagonal load paths create openings
 for t in (.25,.52,.76):
  c=a+(b-a)*t; span=side*(w1*(1-t)+w2*t)
  rod(n+' branching brace',c-span*.9-d*.16,c+span*.9+d*.16,.055,steel)
 # membrane one panel only, triangle-ish quads via mesh
 verts=[a+side*w1*.72+up*.06,a-side*w1*.72+up*.06,b-side*w2*.72-up*.06,b+side*w2*.72-up*.06]
 me=bpy.data.meshes.new(n+' membrane mesh'); me.from_pydata(verts,[],[(0,1,2,3)]); ob=bpy.data.objects.new(n+' restrained membrane',me); bpy.context.collection.objects.link(ob); ob.data.materials.append(mem)
# link1 and joints
opt_link('LINK A topology optimized',P0+Vector((0,0,.12)),P1,.30,.24)
joint('Elbow A',P1,.31,.42,(0,1,0),dark); cyl('Elbow flange',P1+Vector((0,.24,0)),.39,.10,blue,(0,1,0));
opt_link('LINK B topology optimized',P1+Vector((0,0,.08)),P2,.24,.20)
joint('Elbow B',P2,.27,.40,(0,1,0),dark); cyl('Elbow B flange',P2+Vector((0,.23,0)),.34,.10,blue,(0,1,0))
opt_link('LINK C topology optimized',P2+Vector((0,0,.04)),P3,.20,.15)
joint('Wrist rotary',P3,.21,.32,(0,1,0),dark); cyl('Wrist flange',P3+Vector((0,.19,0)),.27,.09,blue,(0,1,0))
opt_link('LINK D topology optimized',P3,P4,.15,.105)
joint('Tool wrist',P4,.16,.28,(0,1,0),dark)
# actuator pods on side of links, aligned
rod('Shoulder actuator',P0+Vector((-.2,-.32,.1)),P1+Vector((-.16,-.22,0)),.10,dark)
rod('Elbow actuator',P1+Vector((-.08,-.28,.05)),P2+Vector((-.05,-.18,.02)),.075,dark)
rod('Wrist actuator',P2+Vector((-.03,-.2,0)),P3+Vector((-.03,-.15,0)),.055,dark)
# small cable guides slim black close
rod('recessed cable guide',P0+Vector((0,-.36,.1)),P3+Vector((0,-.23,.05)),.025,dark)
# tool plate
cube('Tool interface plate',P5,(.23,.16,.07),edge,.035); cyl('Tool pivot',P5+Vector((0,0,.14)),.11,.18,dark,(0,0,1))
# gripper body oriented x axis
cube('Parallel gripper body',(4.28,.12,1.18),(.27,.16,.12),steel,.05)
# fingers vertical-ish with pads toward object x+
for y in (-.13,.13):
 cube('Machined parallel finger',(4.53,.12+y,1.12),(.20,.055,.16),edge,.025)
 cube('Replaceable contact pad',(4.76,.12+y,1.12),(.045,.07,.105),rubber,.015)
 cyl('Finger pivot',(4.42,.12+y,1.28),.045,.12,dark,(0,1,0))
# linkage
rod('Gripper linkage upper',(4.22,.12,1.28),(4.52,.12,1.30),.035,dark)
# target object on desk, under gripper
cyl('Small machined desk object',(4.65,.12,.28),.16,.28,red); cyl('Object top',(4.65,.12,.43),.10,.035,edge); torus('Object groove',(4.65,.12,.34),.14,.018,edge)
# lighting/world
world=bpy.context.scene.world or bpy.data.worlds.new('World'); bpy.context.scene.world=world; world.use_nodes=True; world.node_tree.nodes['Background'].inputs['Color'].default_value=(.025,.035,.05,1); world.node_tree.nodes['Background'].inputs['Strength'].default_value=.35
for loc,energy,size,col in [((2,-4,7),1200,5,(.75,.85,1)),((-4,-1,4),800,4,(.35,.55,1)),((4,4,5),900,3,(1,.35,.16))]:
 bpy.ops.object.light_add(type='AREA',location=loc); l=bpy.context.object;l.data.energy=energy;l.data.shape='DISK';l.data.size=size;l.data.color=col; l.rotation_euler=(math.radians(20),0,math.radians(25))
# camera
bpy.ops.object.camera_add(location=(7,-9,5.5)); cam=bpy.context.object; bpy.context.scene.camera=cam
def track(o,pt): o.rotation_euler=(Vector(pt)-o.location).to_track_quat('-Z','Y').to_euler()
track(cam,(2,.1,1.4)); cam.data.lens=52
scene=bpy.context.scene; scene.render.engine='BLENDER_EEVEE_NEXT'; scene.render.resolution_x=700;scene.render.resolution_y=700;scene.render.resolution_percentage=100
scene.render.image_settings.file_format='PNG'; scene.render.filepath='/tmp/robot.png'; scene.view_settings.look='AgX - Medium High Contrast'
# ground bevel-ish
bpy.ops.wm.save_as_mainfile(filepath='/tmp/robotic_arm.blend')
bpy.ops.render.render(write_still=True)
result={'objects':len(bpy.context.scene.objects),'file':'/tmp/robotic_arm.blend'}

{"code":"import bpy, math\nfrom mathutils import Vector\n# clear\nbpy.ops.object.select_all(action='SELECT'); bpy.ops.object.delete(use_global=False)\nfor d in (bpy.data.meshes, bpy.data.curves, bpy.data.materials, bpy.data.cameras, bpy.data.lights):\n    pass\n# materials\ndef mat(name,color,metal=0.0,rough=.35,trans=0):\n m=bpy.data.materials.new(name); m.diffuse_color=(*color,1); m.use_nodes=True\n bs=m.node_tree.nodes.get('Principled BSDF'); bs.inputs['Base Color'].default_value=(*color,1); bs.inputs['Metallic'].default_value=metal; bs.inputs['Roughness'].default_value=rough\n if trans: bs.inputs['Transmission Weight'].default_value=trans; bs.inputs['Alpha'].default_value=.32; m.surface_render_method='DITHERED'\n return m\nsteel=mat('Anodized graphite structural metal',(0.075,.10,.12),.88,.22)\nedge=mat('Machined titanium edges',(.32,.38,.42),.92,.18)\ndark=mat('Actuator black',(.018,.022,.025),.8,.2)\nblue=mat('Interface blue anodize',(.035,.16,.28),.85,.2)\nrubber=mat('Grip pads',(.025,.03,.032),.1,.5)\nmem=mat('Technical translucent TPU',(.18,.5,.62),.15,.22,.65)\nwood=mat('Desk surface',(.16,.075,.035),.05,.28)\nred=mat('Target object',(.55,.09,.035),.75,.18)\n# funcs\ndef cube(n,loc,scale,ma,bev=.05):\n bpy.ops.mesh.primitive_cube_add(location=loc); o=bpy.context.object; o.name=n; o.scale=scale; bpy.ops.object.transform_apply(location=False,rotation=False,scale=True)\n if bev: mod=o.modifiers.new('Precision edge radii','BEVEL'); mod.width=bev; mod.segments=3\n o.data.materials.append(ma); return o\ndef cyl(n,loc,r,depth,ma,dir=None,verts=32):\n bpy.ops.mesh.primitive_cylinder_add(vertices=verts,radius=r,depth=depth,location=loc); o=bpy.context.object; o.name=n\n if dir: o.rotation_mode='QUATERNION'; o.rotation_quaternion=Vector((0,0,1)).rotation_difference(Vector(dir).normalized())\n o.data.materials.append(ma); be=o.modifiers.new('Machined edge','BEVEL'); be.width=min(r*.16,.04); be.segments=2; return o\ndef rod(n,a,b,r,ma): return cyl(n,(Vector(a)+Vector(b))/2,r,(Vector(b)-Vector(a)).length,ma,Vector(b)-Vector(a))\ndef torus(n,loc,major,minor,ma,rot=(0,0,0)):\n bpy.ops.mesh.primitive_torus_add(major_radius=major,minor_radius=minor,major_segments=32,minor_segments=10,location=loc,rotation=rot); o=bpy.context.object;o.name=n;o.data.materials.append(ma);return o\ndef bolt_circle(center,axis,radius,count,bolt_r,depth,ma):\n # circle in xy around center, mostly for horizontal flange\n for i in range(count):\n  a=2*math.pi*i/count; cyl('Flange bolt', (center[0]+radius*math.cos(a),center[1]+radius*math.sin(a),center[2]+depth/2),bolt_r,depth,ma)\ndef joint(n,p,rad,depth,axis=(0,0,1),color=steel):\n # housing and collars along axis\n cyl(n+' housing',p,rad,depth,color,axis); v=Vector(axis).normalized();\n cyl(n+' front bearing',Vector(p)+v*(depth*.52),rad*1.12,.12,edge,axis); cyl(n+' rear cover',Vector(p)-v*(depth*.52),rad*.9,.10,dark,axis)\n return p\n# desk\ncube('Clean desk', (0,0,-.12),(4.8,3.4,.12),wood,.08)\n# mounting plate and base\ncube('Mounting plate',(0,0,.08),(1.05,.9,.10),edge,.06); bolt_circle((0,0,.18),(0,0,1),.78,6,.065,.10,dark)\ncyl('Base rotating platform',(0,0,.34),.78,.28,steel); torus('Platform bearing',(0,0,.49),.62,.07,edge)\ncyl('Base rotary actuator',(0,0,.58),.52,.38,dark); cyl('Base upper flange',(0,0,.79),.62,.12,blue); bolt_circle((0,0,.85),(0,0,1),.48,8,.045,.08,edge)\n# key points\nP0=Vector((0,0,1.02)); P1=Vector((.25,.03,2.15)); P2=Vector((1.85,.10,2.65)); P3=Vector((3.15,.25,2.05)); P4=Vector((3.85,.18,1.55)); P5=Vector((4.25,.12,1.35))\n# shoulder joint vertical-ish\njoint('Shoulder rotary',P0,.38,.44,(0,1,0),dark); cyl('Shoulder flange',P0+Vector((0,.24,0)),.48,.10,blue,(0,1,0));\n# optimized strut function rails + braces and membrane\ndef opt_link(n,a,b,w1,w2):\n a,b=Vector(a),Vector(b); d=(b-a).normalized(); side=d.cross(Vector((0,0,1)))\n if side.length<.2: side=d.cross(Vector((0,1,0)))\n side.normalize(); up=side.cross(d).normalized()\n # nodes inset and rail ends\n for s in (-1,1): rod(n+' optimized rail',a+side*w1*s,b+side*w2*s,max(.075,w1*.18),steel)\n # tapered organic shoulders at ends\n rod(n+' upper transition',a+side*w1,a+d*.38+side*w2*.72,w1*.22,edge); rod(n+' lower transition',a-side*w1,a+d*.38-side*w2*.72,w1*.22,edge)\n rod(n+' far transition',b+side*w2,b-d*.38+side*w1*.72,w2*.22,edge); rod(n+' far transition',b-side*w2,b-d*.38-side*w1*.72,w2*.22,edge)\n # diagonal load paths create openings\n for t in (.25,.52,.76):\n  c=a+(b-a)*t; span=side*(w1*(1-t)+w2*t)\n  rod(n+' branching brace',c-span*.9-d*.16,c+span*.9+d*.16,.055,steel)\n # membrane one panel only, triangle-ish quads via mesh\n verts=[a+side*w1*.72+up*.06,a-side*w1*.72+up*.06,b-side*w2*.72-up*.06,b+side*w2*.72-up*.06]\n me=bpy.data.meshes.new(n+' membrane mesh'); me.from_pydata(verts,[],[(0,1,2,3)]); ob=bpy.data.objects.new(n+' restrained membrane',me); bpy.context.collection.objects.link(ob); ob.data.materials.append(mem)\n# link1 and joints\nopt_link('LINK A topology optimized',P0+Vector((0,0,.12)),P1,.30,.24)\njoint('Elbow A',P1,.31,.42,(0,1,0),dark); cyl('Elbow flange',P1+Vector((0,.24,0)),.39,.10,blue,(0,1,0));\nopt_link('LINK B topology optimized',P1+Vector((0,0,.08)),P2,.24,.20)\njoint('Elbow B',P2,.27,.40,(0,1,0),dark); cyl('Elbow B flange',P2+Vector((0,.23,0)),.34,.10,blue,(0,1,0))\nopt_link('LINK C topology optimized',P2+Vector((0,0,.04)),P3,.20,.15)\njoint('Wrist rotary',P3,.21,.32,(0,1,0),dark); cyl('Wrist flange',P3+Vector((0,.19,0)),.27,.09,blue,(0,1,0))\nopt_link('LINK D topology optimized',P3,P4,.15,.105)\njoint('Tool wrist',P4,.16,.28,(0,1,0),dark)\n# actuator pods on side of links, aligned\nrod('Shoulder actuator',P0+Vector((-.2,-.32,.1)),P1+Vector((-.16,-.22,0)),.10,dark)\nrod('Elbow actuator',P1+Vector((-.08,-.28,.05)),P2+Vector((-.05,-.18,.02)),.075,dark)\nrod('Wrist actuator',P2+Vector((-.03,-.2,0)),P3+Vector((-.03,-.15,0)),.055,dark)\n# small cable guides slim black close\nrod('recessed cable guide',P0+Vector((0,-.36,.1)),P3+Vector((0,-.23,.05)),.025,dark)\n# tool plate\ncube('Tool interface plate',P5,(.23,.16,.07),edge,.035); cyl('Tool pivot',P5+Vector((0,0,.14)),.11,.18,dark,(0,0,1))\n# gripper body oriented x axis\ncube('Parallel gripper body',(4.28,.12,1.18),(.27,.16,.12),steel,.05)\n# fingers vertical-ish with pads toward object x+\nfor y in (-.13,.13):\n cube('Machined parallel finger',(4.53,.12+y,1.12),(.20,.055,.16),edge,.025)\n cube('Replaceable contact pad',(4.76,.12+y,1.12),(.045,.07,.105),rubber,.015)\n cyl('Finger pivot',(4.42,.12+y,1.28),.045,.12,dark,(0,1,0))\n# linkage\nrod('Gripper linkage upper',(4.22,.12,1.28),(4.52,.12,1.30),.035,dark)\n# target object on desk, under gripper\ncyl('Small machined desk object',(4.65,.12,.28),.16,.28,red); cyl('Object top',(4.65,.12,.43),.10,.035,edge); torus('Object groove',(4.65,.12,.34),.14,.018,edge)\n# lighting/world\nworld=bpy.context.scene.world or bpy.data.worlds.new('World'); bpy.context.scene.world=world; world.use_nodes=True; world.node_tree.nodes['Background'].inputs['Color'].default_value=(.025,.035,.05,1); world.node_tree.nodes['Background'].inputs['Strength'].default_value=.35\nfor loc,energy,size,col in [((2,-4,7),1200,5,(.75,.85,1)),((-4,-1,4),800,4,(.35,.55,1)),((4,4,5),900,3,(1,.35,.16))]:\n bpy.ops.object.light_add(type='AREA',location=loc); l=bpy.context.object;l.data.energy=energy;l.data.shape='DISK';l.data.size=size;l.data.color=col; l.rotation_euler=(math.radians(20),0,math.radians(25))\n# camera\nbpy.ops.object.camera_add(location=(7,-9,5.5)); cam=bpy.context.object; bpy.context.scene.camera=cam\ndef track(o,pt): o.rotation_euler=(Vector(pt)-o.location).to_track_quat('-Z','Y').to_euler()\ntrack(cam,(2,.1,1.4)); cam.data.lens=52\nscene=bpy.context.scene; scene.render.engine='BLENDER_EEVEE_NEXT'; scene.render.resolution_x=700;scene.render.resolution_y=700;scene.render.resolution_percentage=100\nscene.render.image_settings.file_format='PNG'; scene.render.filepath='/tmp/robot.png'; scene.view_settings.look='AgX - Medium High Contrast'\n# ground bevel-ish\nbpy.ops.wm.save_as_mainfile(filepath='/tmp/robotic_arm.blend')\nbpy.ops.render.render(write_still=True)\nresult={'objects':len(bpy.context.scene.objects),'file':'/tmp/robotic_arm.blend'}"}