# Robotics line study

`robotics-line-study.svg` is an editorial contour drawing of two project-authored
robot arms preparing a drink. Updated on 5 October 2026 to replace the earlier
UR5e-derived exterior. It is not a photograph, engineering drawing, validated
trial, or manufacturer demonstration.

## Geometry and attribution

- The visible arms and grippers are the original assemblies in
  `dist/original-arm-design.js`: paired open plate links, squared bases and
  compact joint enclosures. No manufacturer CAD, product mesh, logo, texture,
  or raster reference supplies the visible geometry in this SVG.
- The composition uses `createBeverageStation()` in `dist/beverage.js`, with
  this project's cup, milk jug and serving tray. The coffee appliance, outlet
  and nozzle are omitted from the artwork.
- The pose hierarchy in `dist/original-arm-rig.js` retains a derivative of
  Google DeepMind MuJoCo Menagerie's BSD-3-Clause UR5e joint frames. This is
  retained articulation data, not the source exterior geometry. The
  [complete license](../UR5E-LICENSE.txt), copyright 2018 ROS Industrial
  Consortium, remains bundled. No endorsement or additional rights clearance
  is implied by that license.

## Drawing process

The beverage scene is set to time 11.8, and the left arm is posed at
`[-0.35, 0.985, -1.26]`, gap `0.0525`. This is an editorial composition,
not an unmodified trial frame.

An antialiased Three.js render at 2400 × 1000 uses a perspective camera with
30-degree field of view and zoom 1.85 at `[0.55, 1.9, 1.72]`, looking at
`[-0.34, 1.22, -1.4]`. White depth-writing surfaces and black
`EdgesGeometry` (35-degree threshold) retain visible mechanical edges and
occlude hidden lines. The alpha silhouette supplies the outer contours.
The render was checked to make no requests for the previous UR5e or gripper
GLB assets before tracing.

Visible edge pixels are skeletonized, traced into connected paths, simplified
and smoothed to quadratic SVG curves. Small disconnected raster artifacts are
removed. The file contains native SVG paths, with no embedded raster images,
external resources, scripts, filters or font dependency. The crop is fitted
into a `0 0 1600 550` viewBox without changing the arm proportions.

Transparent background, blue-black ink `#263747`, cobalt `#3154c5` and
terracotta `#b9684b` accents. Exterior strokes are 0.9 px and interior strokes
are 0.55 px; non-scaling strokes retain their fine weight in the footer and
journal. Explicit dimensions are 1600 × 550.

Keep this source record and the retained joint-hierarchy license with
redistribution. These are original visual forms, not a claim of comprehensive
legal clearance or validated hardware design.