[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 writing a single Python script for Blender 5.1 using the bpy API. The scene starts empty. Your script must build everything the user's prompt asks for.

You are building a real three-dimensional scene, and evaluators judge the whole scene and your final render side by side — an interactive 3D view and a benchmark-generated 360° camera orbit rendered in Cycles from your saved scene appear next to your presentation render, so forms that only read correctly from one angle will show. Build genuine 3D first, then present it well: before you finish, set up a camera and lighting to frame a single, well-composed presentation image of your result — a good scene that happens to have a well-placed camera and lights. The final benchmark capture overrides the scene render settings and renders in Cycles at 1536x1536, 64 samples, with denoising and GPU acceleration (CPU fallback). Preview and validate materials, lighting, color management, and composition in Cycles; do not rely on EEVEE-only effects. 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.

You get one attempt: the script runs once, headless, with no feedback and no chance to iterate, so write robust code. Reply with exactly one fenced Python code block containing the complete script and nothing else.

[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.

Present the arm in a clean contemporary design studio or robotics lab, reaching toward a small machined object on a desk. Use premium product-design lighting, a neutral background, crisp material separation, and enough detail to show how the arm is assembled. The final design should feel like a functional research prototype combining generative engineering with disciplined industrial design.

</task>

[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 writing a single Python script for Blender 5.1 using the bpy API. The scene starts empty. Your script must build everything the user's prompt asks for.

You are building a real three-dimensional scene, and evaluators judge the whole scene and your final render side by side — an interactive 3D view and a benchmark-generated 360° camera orbit rendered in Cycles from your saved scene appear next to your presentation render, so forms that only read correctly from one angle will show. Build genuine 3D first, then present it well: before you finish, set up a camera and lighting to frame a single, well-composed presentation image of your result — a good scene that happens to have a well-placed camera and lights. The final benchmark capture overrides the scene render settings and renders in Cycles at 1536x1536, 64 samples, with denoising and GPU acceleration (CPU fallback). Preview and validate materials, lighting, color management, and composition in Cycles; do not rely on EEVEE-only effects. 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.

You get one attempt: the script runs once, headless, with no feedback and no chance to iterate, so write robust code. Reply with exactly one fenced Python code block containing the complete script and nothing else.

[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.

Present the arm in a clean contemporary design studio or robotics lab, reaching toward a small machined object on a desk. Use premium product-design lighting, a neutral background, crisp material separation, and enough detail to show how the arm is assembled. The final design should feel like a functional research prototype combining generative engineering with disciplined industrial design.

</task>

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

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: 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

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: 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

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

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: OPENROUTER PROCESSING

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: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

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: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

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: OPENROUTER PROCESSING

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: OPENROUTER PROCESSING

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: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

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: OPENROUTER PROCESSING

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```python
import bpy
import math
from mathutils import Vector

# ------------------------------------------------------------
# Scene setup
# ------------------------------------------------------------

bpy.ops.object.select_all(action='SELECT')
bpy.ops.object.delete(use_global=False)

scene = bpy.context.scene
scene.render.engine = 'BLENDER_EEVEE_NEXT'
scene.render.resolution_x = 768
scene.render.resolution_y = 768
scene.render.resolution_percentage = 100
scene.render.image_settings.file_format = 'PNG'
scene.render.film_transparent = False
scene.render.resolution_percentage = 100

scene.view_settings.look = 'AgX - Medium High Contrast'
scene.view_settings.exposure = 0.35

world = bpy.data.worlds.new("Neutral Studio World")
scene.world = world
world.use_nodes = True
world.node_tree.nodes["Background"].inputs["Color"].default_value = (0.055, 0.065, 0.075, 1)
world.node_tree.nodes["Background"].inputs["Strength"].default_value = 0.28

# ------------------------------------------------------------
# Materials
# ------------------------------------------------------------

def material(name, color, metallic=0.0, roughness=0.4, alpha=1.0,
             transmission=0.0, coat=0.0):
    m = bpy.data.materials.new(name)
    m.diffuse_color = (*color, alpha)
    m.use_nodes = True
    bsdf = m.node_tree.nodes.get("Principled BSDF")
    bsdf.inputs["Base Color"].default_value = (*color, 1)
    bsdf.inputs["Metallic"].default_value = metallic
    bsdf.inputs["Roughness"].default_value = roughness
    if "Coat Weight" in bsdf.inputs:
        bsdf.inputs["Coat Weight"].default_value = coat
    if "Transmission Weight" in bsdf.inputs:
        bsdf.inputs["Transmission Weight"].default_value = transmission
    if "Alpha" in bsdf.inputs:
        bsdf.inputs["Alpha"].default_value = alpha
    if alpha < 1:
        m.surface_render_method = 'DITHERED'
        m.use_transparency_overlap = False
    return m

MAT_TOPO = material("Topology Optimized Titanium",
                    (0.28, 0.43, 0.43), metallic=0.88, roughness=0.23, coat=0.2)
MAT_TOPO_EDGE = material("Topology Highlight",
                         (0.42, 0.63, 0.60), metallic=0.8, roughness=0.2)
MAT_SILVER = material("Precision Machined Aluminum",
                      (0.64, 0.69, 0.72), metallic=0.92, roughness=0.22)
MAT_DARK = material("Actuator Graphite",
                    (0.045, 0.06, 0.07), metallic=0.74, roughness=0.25)
MAT_BLACK = material("Cable and Pads",
                     (0.012, 0.016, 0.019), metallic=0.15, roughness=0.32)
MAT_ACCENT = material("Interface Accent",
                      (0.12, 0.45, 0.56), metallic=0.75, roughness=0.23)
MAT_BOLT = material("Fasteners",
                    (0.11, 0.13, 0.14), metallic=0.92, roughness=0.18)
MAT_MEMBRANE = material("Clear Reinforced TPU",
                        (0.28, 0.68, 0.74), metallic=0.0, roughness=0.2,
                        alpha=0.25, transmission=0.5, coat=0.25)
MAT_DESK = material("Warm White Lab Bench",
                    (0.69, 0.70, 0.68), metallic=0.0, roughness=0.3, coat=0.25)
MAT_EDGE = material("Desk Edge",
                    (0.13, 0.15, 0.16), metallic=0.2, roughness=0.3)
MAT_WALL = material("Studio Background",
                    (0.20, 0.225, 0.24), metallic=0.0, roughness=0.68)
MAT_BRASS = material("Machined Sample",
                     (0.68, 0.38, 0.09), metallic=0.9, roughness=0.18)
MAT_RED = material("Status Indicator",
                   (0.8, 0.035, 0.018), metallic=0.1, roughness=0.25)

# ------------------------------------------------------------
# Geometry helpers
# ------------------------------------------------------------

def smooth(obj):
    if obj and obj.type == 'MESH':
        for poly in obj.data.polygons:
            poly.use_smooth = True

def bevel(obj, amount=0.04, segments=3):
    mod = obj.modifiers.new("Machined edge radii", 'BEVEL')
    mod.width = amount
    mod.segments = segments
    mod.limit_method = 'ANGLE'
    return obj

def cube_obj(name, loc, scale, mat, bevel_amt=0.0):
    bpy.ops.mesh.primitive_cube_add(location=loc)
    o = bpy.context.object
    o.name = name
    o.scale = (scale[0] / 2, scale[1] / 2, scale[2] / 2)
    bpy.ops.object.transform_apply(location=False, rotation=False, scale=True)
    if mat:
        o.data.materials.append(mat)
    if bevel_amt:
        bevel(o, bevel_amt, 3)
    return o

def cylinder_between(name, a, b, radius, mat, vertices=32, r2=None):
    a, b = Vector(a), Vector(b)
    d = b - a
    length = d.length
    if length < 1e-5:
        return None
    mid = (a + b) * 0.5
    if r2 is None:
        r2 = radius
    bpy.ops.mesh.primitive_cone_add(
        vertices=vertices, radius1=radius, radius2=r2,
        depth=length, location=mid
    )
    o = bpy.context.object
    o.name = name
    o.rotation_mode = 'QUATERNION'
    o.rotation_quaternion = d.to_track_quat('Z', 'Y')
    if mat:
        o.data.materials.append(mat)
    smooth(o)
    return o

def sphere(name, loc, radius, mat, scale=(1,1,1)):
    bpy.ops.mesh.primitive_uv_sphere_add(
        segments=28, ring_count=16, radius=radius, location=loc
    )
    o = bpy.context.object
    o.name = name
    o.scale = scale
    bpy.ops.object.transform_apply(location=False, rotation=False, scale=True)
    o.data.materials.append(mat)
    smooth(o)
    return o

def disk_z(name, loc, radius, depth, mat, vertices=48):
    bpy.ops.mesh.primitive_cylinder_add(
        vertices=vertices, radius=radius, depth=depth, location=loc
    )
    o = bpy.context.object
    o.name = name
    o.data.materials.append(mat)
    smooth(o)
    bevel(o, min(0.018, depth * 0.14), 2)
    return o

def box_between(name, a, b, width, depth, mat, bevel_amt=0.02):
    a, b = Vector(a), Vector(b)
    d = b - a
    length = d.length
    o = cube_obj(name, (a+b)*0.5, (width, depth, length), mat, bevel_amt)
    o.rotation_mode = 'QUATERNION'
    o.rotation_quaternion = d.to_track_quat('Z', 'Y')
    return o

def curve_tube(name, points, radius, mat):
    curve = bpy.data.curves.new(name, type='CURVE')
    curve.dimensions = '3D'
    curve.resolution_u = 2
    curve.bevel_depth = radius
    curve.bevel_resolution = 3
    spline = curve.splines.new('BEZIER')
    spline.bezier_points.add(len(points)-1)
    for bp, p in zip(spline.bezier_points, points):
        bp.co = p
        bp.handle_left_type = 'AUTO'
        bp.handle_right_type = 'AUTO'
    obj = bpy.data.objects.new(name, curve)
    bpy.context.collection.objects.link(obj)
    obj.data.materials.append(mat)
    return obj

def panel_mesh(name, coords, mat, thickness=0.0):
    mesh = bpy.data.meshes.new(name)
    if len(coords) == 3:
        faces = [(0,1,2)]
    else:
        faces = [(0,1,2,3)]
    mesh.from_pydata(coords, [], faces)
    mesh.update()
    o = bpy.data.objects.new(name, mesh)
    bpy.context.collection.objects.link(o)
    o.data.materials.append(mat)
    if thickness:
        sol = o.modifiers.new("Film thickness", 'SOLIDIFY')
        sol.thickness = thickness
    return o

# ------------------------------------------------------------
# Studio and desk
# ------------------------------------------------------------

desk = cube_obj("Precision Lab Work Surface", (0, 0.2, -0.15),
                (5.8, 4.1, 0.30), MAT_DESK, 0.09)
cube_obj("Dark Front Edge", (0, -1.80, -0.16),
         (5.65, 0.11, 0.23), MAT_EDGE, 0.025)

# legs glimpsed under the table
for x in (-2.35, 2.35):
    for y in (-1.35, 1.55):
        cube_obj("Bench Leg", (x, y, -1.03), (0.16, 0.16, 1.75),
                 MAT_EDGE, 0.025)

# Seamless visual background
cube_obj("Rear Studio Wall", (0, 2.62, 1.7),
         (7.2, 0.12, 4.0), MAT_WALL, 0.03)
cube_obj("Left Architectural Panel", (-3.05, 0.9, 1.4),
         (0.10, 3.3, 3.2), MAT_WALL, 0.02)

# restrained wall light strips
strip_mat = material("Soft Wall Strip", (0.75, 0.86, 0.89),
                     metallic=0.0, roughness=0.25)
for x in (-2.15, 2.05):
    cube_obj("Wall Light Recess", (x, 2.545, 1.82),
             (0.09, 0.025, 1.75), strip_mat, 0.015)

# ------------------------------------------------------------
# Mechanical base: no lattice
# ------------------------------------------------------------

base_x = -1.55

disk_z("Base Isolation Pad", (base_x, 0, 0.035), 0.55, 0.07, MAT_BLACK)
disk_z("Bolted Base Flange", (base_x, 0, 0.10), 0.50, 0.12, MAT_SILVER)
disk_z("Rotary Yaw Bearing", (base_x, 0, 0.205), 0.42, 0.105, MAT_DARK)
disk_z("Rotating Platform", (base_x, 0, 0.315), 0.44, 0.12, MAT_SILVER)
disk_z("Yaw Interface Ring", (base_x, 0, 0.397), 0.34, 0.055, MAT_ACCENT)

# base fasteners
for i in range(8):
    a = 2*math.pi*i/8
    x = base_x + 0.405*math.cos(a)
    y = 0 + 0.405*math.sin(a)
    disk_z("Base Mount Bolt", (x, y, 0.177), 0.035, 0.025, MAT_BOLT, 20)

# shoulder pedestal and side cheeks
cube_obj("Shoulder Pedestal", (base_x, 0, 0.60),
         (0.42, 0.52, 0.48), MAT_DARK, 0.065)
cube_obj("Left Shoulder Cheek", (base_x, -0.255, 0.76),
         (0.45, 0.105, 0.55), MAT_SILVER, 0.045)
cube_obj("Right Shoulder Cheek", (base_x, 0.255, 0.76),
         (0.45, 0.105, 0.55), MAT_SILVER, 0.045)

# ------------------------------------------------------------
# Joint definitions
# ------------------------------------------------------------

P0 = Vector((-1.55, 0, 0.92))
P1 = Vector((-0.72, 0, 2.02))
P2 = Vector((0.38, 0, 1.78))
P3 = Vector((1.04, 0, 1.18))

def hinge_joint(name, p, radius, depth, accent=True):
    p = Vector(p)
    # Main actuator body, axis along Y
    cylinder_between(name+" Actuator",
                     p + Vector((0,-depth*0.34,0)),
                     p + Vector((0, depth*0.34,0)),
                     radius*0.90, MAT_DARK, 40)
    cylinder_between(name+" Front Flange",
                     p + Vector((0,-depth*0.52,0)),
                     p + Vector((0,-depth*0.31,0)),
                     radius, MAT_SILVER, 40)
    cylinder_between(name+" Rear Flange",
                     p + Vector((0,depth*0.31,0)),
                     p + Vector((0,depth*0.52,0)),
                     radius, MAT_SILVER, 40)
    cylinder_between(name+" Bearing Cap",
                     p + Vector((0,-depth*0.59,0)),
                     p + Vector((0,-depth*0.50,0)),
                     radius*0.61, MAT_ACCENT if accent else MAT_BOLT, 36)
    cylinder_between(name+" Axle",
                     p + Vector((0,-depth*0.64,0)),
                     p + Vector((0,depth*0.64,0)),
                     radius*0.25, MAT_BOLT, 28)
    # flange bolts on both faces
    for side in (-1,1):
        y = side*depth*0.575
        for i in range(6):
            a = 2*math.pi*i/6
            q = p + Vector((radius*0.72*math.cos(a), y,
                            radius*0.72*math.sin(a)))
            cylinder_between(name+" Flange Bolt",
                             q+Vector((0,-0.018,0)),
                             q+Vector((0,0.018,0)),
                             radius*0.075, MAT_BOLT, 16)

hinge_joint("Shoulder J1", P0, 0.30, 0.62)
hinge_joint("Elbow J2", P1, 0.255, 0.54)
hinge_joint("Wrist Pitch J3", P2, 0.205, 0.45)
hinge_joint("Wrist Bend J4", P3, 0.165, 0.38)

# ------------------------------------------------------------
# Organic topology optimized structural links
# ------------------------------------------------------------

def topology_link(name, A, B, width_a, width_b, depth, membrane=False):
    A, B = Vector(A), Vector(B)
    axis = (B-A).normalized()
    # In-plane normal, preserving the arm's planar mechanism
    normal = Vector((-axis.z, 0, axis.x)).normalized()
    side = Vector((0,1,0))
    length = (B-A).length

    # Keep optimized metal away from rotary housings
    start = A + axis * min(0.23, length*0.16)
    end = B - axis * min(0.21, length*0.15)
    span = end-start

    ts = [0.0, 0.22, 0.50, 0.78, 1.0]
    widths = [
        width_a*0.38,
        width_a,
        (width_a+width_b)*0.54,
        width_b,
        width_b*0.36
    ]

    layers = {}
    for sy in (-1,1):
        yoff = side * sy * depth*0.5
        U, L = [], []
        for t,w in zip(ts,widths):
            c = start + span*t + yoff
            U.append(c + normal*w)
            L.append(c - normal*w)
        layers[sy] = (U,L)

        # Outer grown rails, intentionally tapered by segment
        for i in range(4):
            taper = 1.0 - 0.12*i
            cylinder_between(name+" Upper grown rail", U[i], U[i+1],
                             0.052*taper, MAT_TOPO, 24, 0.046*taper)
            cylinder_between(name+" Lower grown rail", L[i], L[i+1],
                             0.055*taper, MAT_TOPO, 24, 0.047*taper)

        # Branch network creates controlled triangular / lenticular openings
        cylinder_between(name+" Root upper branch", U[0], L[1],
                         0.048, MAT_TOPO, 24, 0.041)
        cylinder_between(name+" Root lower branch", L[0], U[1],
                         0.048, MAT_TOPO, 24, 0.041)
        cylinder_between(name+" Load diagonal A", U[1], L[2],
                         0.045, MAT_TOPO, 24, 0.038)
        cylinder_between(name+" Load diagonal B", L[2], U[3],
                         0.041, MAT_TOPO, 24, 0.035)
        cylinder_between(name+" Tip upper branch", U[3], L[4],
                         0.038, MAT_TOPO, 24, 0.032)
        cylinder_between(name+" Tip lower branch", L[3], U[4],
                         0.038, MAT_TOPO, 24, 0.032)

        # Smooth branch transition nodes
        for i, q in enumerate(U+L):
            rr = 0.066 if i not in (0,4,5,9) else 0.058
            sphere(name+" Organic transition", q, rr, MAT_TOPO,
                   (1.15, 0.92, 1.15))

    # Through-depth members turn the form into a genuine spatial component
    Uf, Lf = layers[-1]
    Ub, Lb = layers[1]
    for i in range(5):
        rr = 0.039 if i in (1,2,3) else 0.044
        cylinder_between(name+" Upper transverse web", Uf[i], Ub[i],
                         rr, MAT_TOPO_EDGE, 20)
        cylinder_between(name+" Lower transverse web", Lf[i], Lb[i],
                         rr, MAT_TOPO_EDGE, 20)

    # Conventional replaceable interface plates remain distinct
    for p, vec, label, size in (
        (start, axis, "Root interface", width_a),
        (end, axis, "Tip interface", width_b)
    ):
        box_between(name+" "+label,
                    p-axis*0.055, p+axis*0.055,
                    size*1.55, depth*1.35, MAT_SILVER, 0.025)
        for sy in (-1,1):
            cylinder_between(name+" Interface fastener",
                             p + side*(sy*depth*0.72) - side*0.02,
                             p + side*(sy*depth*0.72) + side*0.02,
                             0.027, MAT_BOLT, 16)

    # One restrained clear membrane panel, deliberately inset on front layer
    if membrane:
        U, L = layers[-1]
        inset = side * -0.012
        panel_mesh(name+" Tensioned protective membrane",
                   [U[1]+inset, U[2]+inset, L[2]+inset, L[1]+inset],
                   MAT_MEMBRANE, 0.006)

topology_link("Upper Arm Optimized Strut", P0, P1, 0.245, 0.205, 0.22, True)
topology_link("Forearm Optimized Strut", P1, P2, 0.205, 0.165, 0.19, False)
topology_link("Distal Optimized Strut", P2, P3, 0.155, 0.115, 0.15, True)

# ------------------------------------------------------------
# Compact actuator/gearbox details and controlled cabling
# ------------------------------------------------------------

# Small gearbox covers positioned next to joints
for name, p, scale in (
    ("Shoulder Servo Cover", P0+Vector((-0.24,0.24,-0.03)), (0.22,0.12,0.27)),
    ("Elbow Servo Cover", P1+Vector((0.02,0.22,0.22)), (0.24,0.11,0.18)),
    ("Wrist Servo Cover", P2+Vector((0.02,0.19,0.16)), (0.18,0.10,0.14)),
):
    cube_obj(name, p, scale, MAT_DARK, 0.035)

# Recessed/slim electrical line hugging one side of structure
cable_points = [
    P0 + Vector((0,0.34,0.04)),
    Vector((-1.27,0.31,1.35)),
    P1 + Vector((0,0.29,0.02)),
    Vector((-0.15,0.25,1.93)),
    P2 + Vector((0,0.23,0.01)),
    Vector((0.72,0.20,1.51)),
    P3 + Vector((0,0.18,0.02)),
]
curve_tube("Integrated Electrical Harness", cable_points, 0.018, MAT_BLACK)

# Clamps keep the cable disciplined
for p in (
    Vector((-1.25,0.305,1.38)),
    Vector((-0.16,0.25,1.93)),
    Vector((0.70,0.20,1.52))
):
    sphere("Cable Guide", p, 0.034, MAT_DARK, (1.0,0.55,1.0))

# ------------------------------------------------------------
# Wrist roll and two-finger parallel gripper
# ------------------------------------------------------------

target = Vector((1.54, 0, 0.23))
reach_dir = Vector((0.56, 0, -0.72)).normalized()

# Inline rotary wrist (J5), conventional housing
roll_a = P3 + reach_dir*0.10
roll_b = P3 + reach_dir*0.34
cylinder_between("Wrist Roll J5 Main Housing", roll_a, roll_b,
                 0.145, MAT_DARK, 40)
cylinder_between("Wrist Roll Front Ring",
                 roll_b-reach_dir*0.045, roll_b+reach_dir*0.035,
                 0.158, MAT_SILVER, 40)
cylinder_between("Wrist Roll Accent Ring",
                 roll_b+reach_dir*0.028, roll_b+reach_dir*0.068,
                 0.132, MAT_ACCENT, 40)

palm_center = roll_b + reach_dir*0.13
palm_a = roll_b + reach_dir*0.055
palm_b = roll_b + reach_dir*0.245
box_between("Gripper Replaceable Interface", palm_a, palm_b,
            0.29, 0.40, MAT_SILVER, 0.035)

# compact lead-screw actuator on top
act_a = palm_center - Vector((0,0.15,0))
act_b = palm_center + Vector((0,0.15,0))
cylinder_between("Parallel Jaw Lead Screw", act_a, act_b,
                 0.035, MAT_BOLT, 24)
for sy in (-1,1):
    p = palm_center + Vector((0,sy*0.205,0))
    cylinder_between("Finger Pivot Pin",
                     p+Vector((0,-0.035,0)),
                     p+Vector((0,0.035,0)),
                     0.052, MAT_ACCENT, 24)

# Parallel fingers flank the sample in Y, with two solid links each
finger_root = palm_b + reach_dir*0.02
for sy in (-1,1):
    off = Vector((0, sy*0.19, 0))
    q0 = finger_root + off
    q1 = q0 + reach_dir*0.30
    # slight inward jaw segment
    inward = Vector((0, -sy*0.055, 0))
    q2 = q1 + reach_dir*0.25 + inward

    box_between("Machined Finger Proximal", q0, q1,
                0.10, 0.105, MAT_SILVER, 0.022)
    box_between("Machined Finger Distal", q1, q2,
                0.085, 0.095, MAT_DARK, 0.018)

    cylinder_between("Finger Knuckle Pin",
                     q1+Vector((0,-0.075,0)),
                     q1+Vector((0,0.075,0)),
                     0.034, MAT_ACCENT, 22)

    # replaceable soft contact pad on inward face
    pad_center = q2 + reach_dir*0.018 + Vector((0,-sy*0.047,0))
    pad = cube_obj("Replaceable Contact Pad", pad_center,
                   (0.085,0.035,0.115), MAT_BLACK, 0.012)
    pad.rotation_mode = 'QUATERNION'
    pad.rotation_quaternion = reach_dir.to_track_quat('Z','Y')

# ------------------------------------------------------------
# Small machined desk object
# ------------------------------------------------------------

bpy.ops.mesh.primitive_cylinder_add(
    vertices=6, radius=0.145, depth=0.19, location=(1.54,0,0.095)
)
sample = bpy.context.object
sample.name = "Small Machined Hexagonal Sample"
sample.data.materials.append(MAT_BRASS)
bevel(sample, 0.018, 3)

disk_z("Sample Top Insert", (1.54,0,0.199), 0.072, 0.020, MAT_DARK, 32)
disk_z("Sample Center Boss", (1.54,0,0.216), 0.034, 0.015, MAT_SILVER, 24)

# Small locating mat beneath sample
disk_z("Sample Locator", (1.54,0,0.008), 0.24, 0.016, MAT_BLACK, 48)
# locator was added after sample and overlaps only below desk top very slightly

# ------------------------------------------------------------
# Additional status detail
# ------------------------------------------------------------

# status light and clean data port on pedestal
sphere("Status LED", (base_x+0.215,-0.265,0.64), 0.025, MAT_RED,
       (1,0.45,1))
cube_obj("Service Port", (base_x+0.11,-0.318,0.51),
         (0.14,0.022,0.065), MAT_BLACK, 0.008)

# ------------------------------------------------------------
# Lighting
# ------------------------------------------------------------

def area_light(name, loc, energy, size, color, target):
    data = bpy.data.lights.new(name, type='AREA')
    data.energy = energy
    data.shape = 'DISK'
    data.size = size
    data.color = color
    obj = bpy.data.objects.new(name, data)
    bpy.context.collection.objects.link(obj)
    obj.location = loc
    direction = Vector(target) - Vector(loc)
    obj.rotation_euler = direction.to_track_quat('-Z','Y').to_euler()
    return obj

area_light("Large Product Key",
           (1.5,-3.6,5.0), 1050, 4.0, (0.88,0.94,1.0), (-0.3,0,1.0))
area_light("Warm Rim",
           (-3.4,1.7,3.4), 900, 3.0, (1.0,0.76,0.55), (-0.7,0,1.2))
area_light("Arm Detail Fill",
           (3.2,1.5,2.7), 780, 2.5, (0.58,0.78,1.0), (0.3,0,1.1))
area_light("Desk Softbox",
           (0,-0.2,5.6), 620, 3.2, (1.0,1.0,1.0), (0,0,0))

# ------------------------------------------------------------
# Camera
# ------------------------------------------------------------

camera_data = bpy.data.cameras.new("Presentation Camera")
camera = bpy.data.objects.new("Presentation Camera", camera_data)
bpy.context.collection.objects.link(camera)
scene.camera = camera

camera.location = (4.35, -6.45, 3.35)
look_at = Vector((-0.05, 0.02, 1.10))
camera.rotation_euler = (look_at - camera.location).to_track_quat('-Z','Y').to_euler()
camera_data.lens = 55
camera_data.sensor_width = 36
camera_data.dof.use_dof = True
camera_data.dof.focus_object = sample
camera_data.dof.aperture_fstop = 7.5

# ------------------------------------------------------------
# Render settings and save
# ------------------------------------------------------------

scene.render.resolution_x = 768
scene.render.resolution_y = 768
scene.render.resolution_percentage = 100

# Cycles-ready settings for benchmark override
scene.render.engine = 'BLENDER_EEVEE_NEXT'
scene.render.image_settings.file_format = 'PNG'
scene.render.filepath = "/tmp/robotic_arm.png"

# Set sensible object origins / selection state
bpy.ops.object.select_all(action='DESELECT')
camera.select_set(True)
bpy.context.view_layer.objects.active = camera

bpy.ops.wm.save_as_mainfile(filepath="/tmp/robotic_arm.blend")
```