[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")

: 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

: 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

: 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

: 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

: 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

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

: OPENROUTER PROCESSING

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: OPENROUTER PROCESSING

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: OPENROUTER PROCESSING

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: OPENROUTER PROCESSING

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: OPENROUTER PROCESSING

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: OPENROUTER PROCESSING

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: OPENROUTER PROCESSING

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: OPENROUTER PROCESSING

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: 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

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

# ------------------------------------------------------------
# MORPH 07 — a generatively lightened desktop research arm
# ------------------------------------------------------------
bpy.ops.object.select_all(action='SELECT')
bpy.ops.object.delete(use_global=False)

def material(name, color, metallic=0.0, roughness=0.35):
    m = bpy.data.materials.new(name)
    m.diffuse_color = (*color, 1)
    m.use_nodes = True
    p = m.node_tree.nodes.get('Principled BSDF')
    p.inputs['Base Color'].default_value = (*color, 1)
    p.inputs['Metallic'].default_value = metallic
    p.inputs['Roughness'].default_value = roughness
    return m

titanium = material('01 | Satin titanium, optimized links', (0.49, 0.57, 0.60), .82, .28)
edge_metal = material('02 | Bead-blasted aluminum', (.68, .73, .75), .72, .25)
steel = material('03 | Ground stainless steel', (.49, .54, .58), .90, .19)
dark = material('04 | Deep graphite anodized housings', (.048, .071, .084), .72, .30)
black = material('05 | Polymer cable and contact pads', (.012, .018, .023), .10, .43)
ceramic = material('06 | Warm white instrument covers', (.76, .79, .77), .28, .31)
orange = material('07 | Safety vermilion', (.93, .19, .055), .48, .29)
ink = material('08 | Laser marking', (.11, .15, .17), .25, .42)
white_ink = material('09 | Pale markings', (.73, .84, .87), .25, .36)
deskmat = material('10 | Warm gray solid-surface desktop', (.50, .54, .54), .05, .46)
floor_mat = material('11 | Studio floor', (.29, .33, .35), .05, .55)
screenmat = material('12 | Control display glass', (.021, .055, .065), .3, .20)
ledmat = material('13 | Mint status light', (.14, .75, .56), .15, .24)
p = ledmat.node_tree.nodes.get('Principled BSDF')
p.inputs['Emission Color'].default_value = (.10, .6, .35, 1)
p.inputs['Emission Strength'].default_value = 1.5

film = material('14 | 150 micron translucent protective TPU', (.65, .80, .81), .05, .24)
p = film.node_tree.nodes.get('Principled BSDF')
p.inputs['Alpha'].default_value = .24
p.inputs['Transmission Weight'].default_value = .48
p.inputs['IOR'].default_value = 1.38
film.diffuse_color = (.65, .80, .81, .24)
try:
    film.surface_render_method = 'DITHERED'
except Exception:
    pass

def assign(obj, mat):
    obj.data.materials.append(mat)
    return obj

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

def bevel(obj, amount=.04, segments=3):
    mod = obj.modifiers.new('Manufactured edge radii', 'BEVEL')
    mod.width = amount
    mod.segments = segments
    mod = obj.modifiers.new('Face-weighted normals', 'WEIGHTED_NORMAL')
    mod.keep_sharp = True
    return obj

def box(name, loc, dims, mat, bevel_width=.03):
    bpy.ops.mesh.primitive_cube_add(size=1, location=loc)
    obj = bpy.context.object
    obj.name = name
    obj.dimensions = dims
    bpy.ops.object.transform_apply(location=False, rotation=False, scale=True)
    assign(obj, mat)
    if bevel_width:
        bevel(obj, bevel_width)
    return obj

def cylinder(name, loc, radius, depth, mat, axis=(0, 0, 1), vertices=64, edge=.012):
    bpy.ops.mesh.primitive_cylinder_add(vertices=vertices, radius=radius, depth=depth, location=loc)
    obj = bpy.context.object
    obj.name = name
    obj.rotation_mode = 'QUATERNION'
    obj.rotation_quaternion = Vector(axis).to_track_quat('Z', 'Y')
    assign(obj, mat)
    if edge:
        bevel(obj, edge, 3)
    smooth(obj)
    return obj

def between_box(name, a, b, width, depth, mat, edge=.025):
    a, b = Vector(a), Vector(b)
    obj = box(name, (a+b)/2, (width, depth, (b-a).length), mat, edge)
    obj.rotation_mode = 'QUATERNION'
    obj.rotation_quaternion = (b-a).to_track_quat('Z', 'Y')
    return obj

def rod(name, a, b, radius, mat, vertices=32):
    a, b = Vector(a), Vector(b)
    return cylinder(name, (a+b)/2, radius, (b-a).length, mat, b-a, vertices, .006)

def torus(name, loc, major, minor, mat, axis=(0, 0, 1)):
    bpy.ops.mesh.primitive_torus_add(major_radius=major, minor_radius=minor,
                                    major_segments=64, minor_segments=12, location=loc)
    obj = bpy.context.object
    obj.name = name
    obj.rotation_mode = 'QUATERNION'
    obj.rotation_quaternion = Vector(axis).to_track_quat('Z', 'Y')
    assign(obj, mat)
    smooth(obj)
    return obj

def bolt(name, loc, radius=.038, axis=(0, -1, 0)):
    axis = Vector(axis).normalized()
    loc = Vector(loc)
    cylinder(name+' | socket head', loc, radius, radius*.58, steel, axis, 32, .005)
    cylinder(name+' | hex recess', loc+axis*(radius*.31), radius*.48, .008,
             black, axis, 6, .001)

def text(name, body, loc, size, mat, rotation=(math.pi/2, 0, 0), align='CENTER'):
    curve = bpy.data.curves.new(name, 'FONT')
    curve.body = body
    curve.size = size
    curve.align_x = align
    curve.align_y = 'CENTER'
    curve.extrude = .0006
    curve.bevel_depth = .0002
    obj = bpy.data.objects.new(name, curve)
    bpy.context.collection.objects.link(obj)
    obj.location = loc
    obj.rotation_euler = rotation
    assign(obj, mat)
    bpy.context.view_layer.objects.active = obj
    obj.select_set(True)
    bpy.ops.object.convert(target='MESH')
    obj.select_set(False)
    return obj

def tube_mesh(name, pts, radii, mat, ellipse=1.0, sides=12):
    pts = [Vector(v) for v in pts]
    verts, faces = [], []
    for i, point in enumerate(pts):
        tangent = pts[min(i+1, len(pts)-1)]-pts[max(0, i-1)]
        tangent.normalize()
        ref = Vector((0, 1, 0))
        if abs(tangent.dot(ref)) > .95:
            ref = Vector((1, 0, 0))
        u = tangent.cross(ref).normalized()
        v = tangent.cross(u).normalized()
        r = radii[i] if hasattr(radii, '__len__') else radii
        for j in range(sides):
            ang = j*2*math.pi/sides
            verts.append(point + u*(math.cos(ang)*r) + v*(math.sin(ang)*r*ellipse))
    for i in range(len(pts)-1):
        for j in range(sides):
            a = i*sides+j
            b = i*sides+(j+1)%sides
            faces.append((a, b, b+sides, a+sides))
    faces.append(tuple(reversed(range(sides))))
    faces.append(tuple((len(pts)-1)*sides+j for j in range(sides)))
    mesh = bpy.data.meshes.new(name)
    mesh.from_pydata(verts, [], faces)
    mesh.update()
    obj = bpy.data.objects.new(name, mesh)
    bpy.context.collection.objects.link(obj)
    assign(obj, mat)
    smooth(obj)
    return obj

def catmull(points, resolution=10):
    points = [Vector(p) for p in points]
    result = []
    for i in range(len(points)-1):
        a, b = points[max(0, i-1)], points[i]
        c, d = points[i+1], points[min(i+2, len(points)-1)]
        for k in range(resolution):
            t = k/resolution
            result.append(.5*((2*b)+(-a+c)*t+(2*a-5*b+4*c-d)*t*t+
                               (-a+3*b-3*c+d)*t*t*t))
    result.append(points[-1])
    return result

# Table: a real slab with underside structure, not a ground-plane illusion.
box('Desk | rounded solid-surface slab', (0, 0, -.13), (7.6, 4.4, .26), deskmat, .11)
box('Desk | thin shadow-line underside', (0, 0, -.29), (7.28, 4.10, .10), dark, .05)
for x in (-2.95, 2.95):
    for y in (-1.45, 1.45):
        box('Desk | slim architectural leg', (x, y, -1.22), (.16, .16, 1.82), dark, .03)
    box('Desk | floor sled', (x, 0, -2.11), (.34, 3.25, .10), dark, .035)
box('Desk | rear structural beam', (0, 1.43, -.48), (6.1, .15, .30), dark, .02)

# Heavy, precisely assembled yaw base.
base_x = -2.0
box('B0 | bolted desktop mounting shoe', (base_x, 0, .085), (1.30, 1.13, .17), dark, .085)
box('B0 | mounting plate upper face', (base_x, 0, .179), (1.18, 1.01, .045), edge_metal, .055)
for dx in (-.48, .48):
    for dy in (-.40, .40):
        cylinder('Base mounting washer', (base_x+dx, dy, .211), .076, .02, steel)
        bolt('M8 desktop fastener', (base_x+dx, dy, .234), .051, (0, 0, 1))
cylinder('J0 | fixed yaw gearbox', (base_x, 0, .29), .49, .20, dark)
cylinder('J0 | machined bearing rim', (base_x, 0, .408), .50, .053, steel)
torus('J0 | thin orange index seal', (base_x, 0, .432), .467, .015, orange)
cylinder('J0 | rotating platform', (base_x, 0, .48), .445, .09, ceramic)
for a in range(0, 360, 60):
    t = math.radians(a)
    bolt('Yaw platform bolt', (base_x+.365*math.cos(t), .365*math.sin(t), .537),
         .029, (0, 0, 1))
box('Base identification face', (base_x, -.574, .103), (.72, .015, .105), dark, .01)
text('Base model marking', 'M O R P H  /  0 7', (base_x, -.586, .105), .062, white_ink)
cylinder('Power status lamp', (base_x+.43, -.579, .11), .019, .008, ledmat, (0, 1, 0))

shoulder = Vector((-2.0, 0, .92))
elbow = Vector((-2.30, 0, 3.78))
wrist = Vector((.94, 0, 2.66))
tooljoint = Vector((1.57, 0, 1.83))

# Twin pedestal cheeks support the horizontal shoulder axis.
for y in (-.29, .29):
    between_box('J1 | pedestal bearing cheek',
                (base_x, y, .49), (base_x, y, .92), .47, .16, dark, .055)
    box('J1 | pedestal machined inset', (base_x, y + (-.087 if y<0 else .087), .66),
        (.29, .025, .22), ceramic, .025)

def joint(name, center, radius, depth, label):
    c = Vector(center)
    cylinder(name+' | main rotary housing', c, radius, depth, dark, (0, 1, 0))
    front = c+Vector((0, -depth/2-.023, 0))
    rear = c+Vector((0, depth/2+.025, 0))
    cylinder(name+' | front bearing flange', front, radius*1.035, .064, edge_metal, (0, 1, 0))
    torus(name+' | bearing race seal', front+Vector((0, -.041, 0)),
          radius*.80, .012, black, (0, 1, 0))
    cylinder(name+' | flush actuator cover', front+Vector((0, -.046, 0)),
             radius*.70, .040, dark, (0, 1, 0))
    cylinder(name+' | replaceable center plate', front+Vector((0, -.071, 0)),
             radius*.48, .013, ceramic, (0, 1, 0))
    cylinder(name+' | enclosed motor', rear+Vector((0, depth*.17, 0)),
             radius*.80, depth*.40, dark, (0, 1, 0))
    cylinder(name+' | rear motor end cap', rear+Vector((0, depth*.39, 0)),
             radius*.73, .038, edge_metal, (0, 1, 0))
    torus(name+' | orange service seam', rear+Vector((0, depth*.31, 0)),
          radius*.79, .009, orange, (0, 1, 0))
    for i in range(8):
        a = 2*math.pi*i/8+math.pi/8
        pos = front+Vector((radius*.88*math.cos(a), -.040, radius*.88*math.sin(a)))
        bolt(name+' | flange fastener', pos, radius*.070)
    for i in range(3):
        a = math.radians(85+i*13)
        pos = front+Vector((radius*.61*math.cos(a), -.071, radius*.61*math.sin(a)))
        rod(name+' | encoder graduation', pos, pos+Vector((.013, 0, .018)), .004, white_ink, 12)
    text(name+' | joint number', label, front+Vector((0, -.083, -.012)),
         radius*.25, ink)
    return front

joint('J1 SHOULDER', shoulder, .405, .68, '01')
joint('J2 ELBOW', elbow, .36, .58, '02')
joint('J3 WRIST PITCH', wrist, .292, .49, '03')
joint('J4 TOOL TILT', tooljoint, .225, .42, '04')

def optimized_link(name, a, b, start_clearance, end_clearance, width, thickness, membrane=False):
    a, b = Vector(a), Vector(b)
    direction = (b-a).normalized()
    side = Vector((direction.z, 0, -direction.x)).normalized()
    start = a+direction*start_clearance
    end = b-direction*end_clearance
    length = (end-start).length
    def xyz(s, w, y=0):
        return start+direction*(length*s)+side*w+Vector((0, y, 0))
    # Two smoothly flared load paths and two branching internal shear webs.
    outline = [(0, 0), (.13, width*.70), (.34, width),
               (.58, width*.92), (.80, width*.67), (1, 0)]
    paths = [
        [(s, w, 0) for s, w in outline],
        [(s, -w, 0) for s, w in outline],
        [(.15, -width*.76, 0), (.28, -width*.46, 0), (.41, .02, 0),
         (.53, width*.72, 0), (.62, width*.86, 0)],
        [(.42, width*.97, 0), (.56, width*.38, 0), (.67, -width*.15, 0),
         (.79, -width*.66, 0)]
    ]
    pieces = []
    for k, path in enumerate(paths):
        sampled = catmull(path, 12)
        points = [xyz(v.x, v.y, v.z) for v in sampled]
        radii = []
        for j, v in enumerate(sampled):
            if k < 2:
                r = thickness*(1.04-.18*v.x)
                r *= 1+.10*math.cos(v.x*math.pi*2)
            else:
                t = j/(len(sampled)-1)
                r = thickness*.70*(1+.22*abs(2*t-1))
            radii.append(r)
        pieces.append(tube_mesh(name+' | grown load path', points, radii, titanium, 1.30, 16))
    bpy.ops.object.select_all(action='DESELECT')
    for obj in pieces:
        obj.select_set(True)
    bpy.context.view_layer.objects.active = pieces[0]
    bpy.ops.object.join()
    obj = bpy.context.object
    obj.name = name+' | continuous branching titanium casting'
    remesh = obj.modifiers.new('Unified organic junctions', 'REMESH')
    remesh.mode = 'VOXEL'
    remesh.voxel_size = .025
    remesh.use_smooth_shade = True
    bpy.ops.object.modifier_apply(modifier=remesh.name)
    sm = obj.modifiers.new('Smooth load transitions', 'SMOOTH')
    sm.factor = 1.35
    sm.iterations = 5
    bpy.ops.object.modifier_apply(modifier=sm.name)
    sub = obj.modifiers.new('Fine cast surface', 'SUBSURF')
    sub.levels = 1
    sub.render_levels = 1
    bpy.ops.object.modifier_apply(modifier=sub.name)
    smooth(obj)

    # Solid ferrules stop the generative form before every mechanical interface.
    for endpoint, joint_c, sense in [(start, a, 1), (end, b, -1)]:
        inner = endpoint + direction*(sense*.145)
        outer = endpoint - direction*(sense*.20)
        between_box(name+' | replaceable solid end ferrule', outer, inner,
                    width*.97, thickness*3.55, edge_metal, .037)
        between_box(name+' | dark ferrule inset', outer+direction*(sense*.025),
                    inner-direction*(sense*.035), width*.72, thickness*3.68, dark, .022)
        for sign in (-1, 1):
            pos = endpoint+side*(sign*width*.27)+Vector((0, -thickness*1.88, 0))
            bolt(name+' | ferrule clamp screw', pos, .032)
        # An ordinary rectangular tang enters the hub on its axis.
        p1 = joint_c+direction*(sense*.08)
        p2 = endpoint-direction*(sense*.12)
        between_box(name+' | machined hub tang', p1, p2, width*.76,
                    thickness*2.9, dark, .028)

    # A slim electrical harness follows the protected rear edge, not a dangling hose.
    cpoints = [xyz(s, -w*.83, thickness*1.58) for s, w in outline]
    cpoints = [a+Vector((0, thickness*1.65, 0))] + cpoints + [b+Vector((0, thickness*1.65, 0))]
    tube_mesh(name+' | recessed black harness', catmull(cpoints, 10), .022, black, 1, 10)
    for s, w in ((.25, -width*.78), (.70, -width*.59)):
        clip = xyz(s, w, thickness*1.68)
        ob = box(name+' | restrained cable guide', clip, (.095, .07, .06), dark, .015)
        ob.rotation_mode = 'QUATERNION'
        ob.rotation_quaternion = direction.to_track_quat('Z', 'Y')

    if membrane:
        # One translucent film in the distal side aperture; other apertures stay open.
        polygon = [(.48, width*.79), (.58, width*.80), (.72, width*.66),
                   (.83, width*.42), (.89, width*.22), (.78, -width*.45),
                   (.68, -width*.02), (.58, width*.38)]
        vertices = [xyz(s, w, .013) for s, w in polygon]
        mesh = bpy.data.meshes.new(name+' | membrane mesh')
        mesh.from_pydata(vertices, [], [tuple(range(len(vertices)))])
        mesh.update()
        ob = bpy.data.objects.new(name+' | selected aperture TPU dust shield', mesh)
        bpy.context.collection.objects.link(ob)
        assign(ob, film)
        solid = ob.modifiers.new('Film thickness', 'SOLIDIFY')
        solid.thickness = .004
        for s, w in (polygon[0], polygon[3], polygon[5]):
            cylinder(name+' | flush film retention button', xyz(s, w, -.002),
                     .022, .02, edge_metal, (0, 1, 0), 24, .003)
    return xyz

optimized_link('L1 / FEMUR', shoulder, elbow, .48, .43, .36, .116, False)
optimized_link('L2 / REACH', elbow, wrist, .44, .36, .34, .102, True)

# Compact, entirely conventional wrist transition.
wd = (tooljoint-wrist).normalized()
wa = wrist+wd*.17
wb = tooljoint-wd*.14
between_box('Wrist | solid rectangular gearbox bridge', wa, wb, .32, .32, dark, .045)
front_offset = Vector((0, -.175, 0))
between_box('Wrist | removable ceramic service cover',
            wa+wd*.12+front_offset, wb-wd*.10+front_offset, .23, .036, ceramic, .025)
for c in (wa+wd*.17, wb-wd*.15):
    bolt('Wrist service cover screw', c+Vector((0, -.203, 0)), .026)
tube_mesh('Wrist | close-routed electrical bridge',
          catmull([wrist+Vector((0, .30, -.06)),
                   wrist+wd*.32+Vector((0, .23, 0)),
                   tooljoint-wd*.22+Vector((0, .23, 0)),
                   tooljoint+Vector((0, .22, -.06))], 12), .022, black, 1, 10)

# Joint 5: tool roll with flange, bearing, encoder seam, and fasteners.
tx = tooljoint.x
cylinder('J5 | wrist roll body', (tx, 0, 1.56), .185, .30, dark)
cylinder('J5 | roll bearing collar', (tx, 0, 1.445), .213, .057, steel)
torus('J5 | index seal', (tx, 0, 1.417), .182, .010, orange)
cylinder('J5 | quick-change tool flange', (tx, 0, 1.373), .218, .071, edge_metal)
for a in range(0, 360, 90):
    ang = math.radians(a+45)
    bolt('Tool flange fastener', (tx+.165*math.cos(ang), .165*math.sin(ang), 1.337),
         .027, (0, 0, -1))
box('J5 | roll index marker', (tx, -.19, 1.52), (.024, .012, .078), orange, .004)

# Two-finger parallel gripper: a Cartesian slide, not radial claws.
box('G6 | compact parallel gripper actuator', (tx, 0, 1.233), (.66, .43, .22), dark, .04)
box('G6 | top instrument cover', (tx, 0, 1.354), (.53, .34, .028), ceramic, .015)
box('G6 | front removable cover', (tx, -.226, 1.252), (.42, .025, .11), ceramic, .014)
text('Gripper marking', 'PG-20', (tx, -.244, 1.254), .068, ink)
for dx in (-.275, .275):
    for yy in (-.155, .155):
        bolt('Gripper cover screw', (tx+dx, yy, 1.352), .021, (0, 0, 1))
for y in (-.125, .125):
    rod('G6 | hardened parallel linear guide', (tx-.34, y, 1.104),
        (tx+.34, y, 1.104), .032, steel)
rod('G6 | enclosed drive screw', (tx-.30, 0, 1.10), (tx+.30, 0, 1.10), .026, steel)
for sign in (-1, 1):
    x = tx+sign*.245
    box('G6 | independent sliding carriage', (x, 0, 1.09), (.15, .34, .12), edge_metal, .018)
    box('G6 | solid machined finger root', (x, 0, .975), (.13, .245, .20), edge_metal, .022)
    between_box('G6 | solid tapered finger',
                (x, 0, .955), (x-sign*.035, 0, .695), .105, .185, edge_metal, .017)
    box('G6 | replaceable flat contact pad',
        (x-sign*.087, 0, .745), (.038, .157, .17), black, .012)
    cylinder('G6 | finger attachment pivot', (x, -.137, .985), .049, .025, steel, (0, 1, 0))
    bolt('G6 | finger socket pin', (x, -.157, .985), .025)
    bolt('G6 | replaceable pad screw', (x-sign*.026, -.104, .748), .019)
box('G6 | rear microservo enclosure', (tx, .27, 1.24), (.28, .13, .18), dark, .023)

# A small actual machined part, complete with a bore and hexagonal exterior.
box('Target | thin calibration landing tile', (tx, 0, .019), (.90, .73, .038), ceramic, .042)
for xsign in (-1, 1):
    for ysign in (-1, 1):
        x, y = tx+xsign*.35, ysign*.27
        box('Target | alignment mark X', (x, y, .041), (.10, .012, .005), orange, .002)
        box('Target | alignment mark Y', (x+xsign*.044, y-ysign*.043, .041),
            (.012, .10, .005), orange, .002)

def hex_bored_part():
    n = 96
    verts, faces = [], []
    # Dense ring around a genuine hex outline, inner circular bore.
    for z, inner in [(.045, False), (.363, False), (.363, True), (.045, True)]:
        for i in range(n):
            a = i*2*math.pi/n
            if inner:
                r = .087
            else:
                local = (a+math.pi/6) % (math.pi/3)-math.pi/6
                r = .179/math.cos(local)
            verts.append((tx+r*math.cos(a), r*math.sin(a), z))
    for j in range(4):
        nj = (j+1)%4
        for i in range(n):
            ni = (i+1)%n
            faces.append((j*n+i, j*n+ni, nj*n+ni, nj*n+i))
    mesh = bpy.data.meshes.new('Bored hex billet mesh')
    mesh.from_pydata(verts, [], faces)
    mesh.update()
    obj = bpy.data.objects.new('Target | machined hexagonal sample with through-bore', mesh)
    bpy.context.collection.objects.link(obj)
    assign(obj, edge_metal)
    bevel(obj, .011, 3)
hex_bored_part()
torus('Target | orange bore identification ring', (tx, 0, .365), .105, .013, orange)
text('Target tile ID', 'PICK / 014', (tx, -.284, .043), .055, ink, (0, 0, 0))

# A discreet tethered desktop controller and lab identification details.
box('Control | low-profile controller', (-2.45, 1.18, .105), (1.05, .65, .20), dark, .055)
box('Control | inset screen', (-2.53, 1.19, .212), (.66, .45, .019), screenmat, .028)
text('Control screen title', 'M07  /  ONLINE', (-2.53, 1.28, .225), .067, white_ink, (0, 0, 0))
text('Control screen line', 'REACH   04.18', (-2.53, 1.10, .225), .054, ledmat, (0, 0, 0))
cylinder('Control | precision dial', (-2.03, 1.19, .238), .083, .053, edge_metal)
cylinder('Control | emergency stop surround', (-2.04, .99, .222), .068, .025, black)
cylinder('Control | compact stop switch', (-2.04, .99, .248), .047, .04, orange)
tube_mesh('Control | short flush desktop cable',
          catmull([(-2.22, 1.48, .055), (-1.89, 1.45, .055),
                   (-1.56, .93, .055), (-1.59, .49, .15)], 12), .018, black, 1, 10)

# Front-edge machine placard, kept small and subordinate to the prototype.
box('Desk | prototype identification plaque', (-1.10, -2.209, -.09),
    (2.05, .022, .145), dark, .016)
text('Desk | project identity', 'M O R P H   0 7     /     ADAPTIVE STRUCTURES',
     (-1.10, -2.225, -.086), .065, white_ink)

# Seamless contemporary studio.
box('Studio | floor', (0, 0, -2.23), (200, 200, .14), floor_mat, .02)
world = bpy.data.worlds.new('Neutral studio environment')
world.use_nodes = True
world.node_tree.nodes['Background'].inputs['Color'].default_value = (.66, .74, .80, 1)
world.node_tree.nodes['Background'].inputs['Strength'].default_value = .32
bpy.context.scene.world = world

def area(name, loc, energy, color, size, target, size_y=None):
    data = bpy.data.lights.new(name, 'AREA')
    data.energy = energy
    data.color = color
    if size_y:
        data.shape = 'RECTANGLE'
        data.size = size
        data.size_y = size_y
    else:
        data.shape = 'DISK'
        data.size = size
    obj = bpy.data.objects.new(name, data)
    bpy.context.collection.objects.link(obj)
    obj.location = loc
    obj.rotation_euler = (Vector(target)-obj.location).to_track_quat('-Z', 'Y').to_euler()
    return obj

area('Key | large softbox', (-3.5, -5.0, 8), 1450, (1.0, .90, .79), 5.0, (-.4, 0, 1.7))
area('Fill | cool front strip', (4.5, -3.0, 5.0), 1000, (.75, .87, 1.0), 3.0, (0, 0, 1.8), 5.0)
area('Rim | broad overhead panel', (-1, 4, 7), 1900, (.83, .93, 1.0), 4, (-.5, 0, 2.0), 3)
area('Front | fine mechanical highlights', (0, -6, 2.5), 230, (1, 1, 1), 2.5, (-.6, 0, 1.7))

cam_data = bpy.data.cameras.new('Presentation Camera')
cam = bpy.data.objects.new('Presentation Camera', cam_data)
bpy.context.collection.objects.link(cam)
cam.location = (6.9, -11.8, 7.0)
target = Vector((-.23, 0, 1.25))
cam.rotation_euler = (target-Vector(cam.location)).to_track_quat('-Z', 'Y').to_euler()
cam_data.type = 'ORTHO'
cam_data.ortho_scale = 7.65
cam_data.lens = 50
bpy.context.scene.camera = cam

scene = bpy.context.scene
scene.render.engine = 'CYCLES'
scene.cycles.samples = 64
scene.cycles.use_denoising = True
scene.render.resolution_x = 1536
scene.render.resolution_y = 1536
scene.render.resolution_percentage = 100
scene.render.image_settings.file_format = 'PNG'
scene.render.film_transparent = False
scene.render.filepath = '/mnt/data/morph07.png'
scene.view_settings.view_transform = 'AgX'
scene.view_settings.look = 'AgX - Medium High Contrast'
scene.view_settings.exposure = .25

# All core structures are mesh geometry, including markings and organic links.
bpy.ops.object.select_all(action='DESELECT')
bpy.context.view_layer.update()
bpy.ops.wm.save_as_mainfile(filepath='/mnt/data/output.blend')
```