feat(probe): YJ-01 real-probe 7-stage dataset + probe design branch in pipeline/CLI

1 files changed, 816 insertions, 0 deletions

diff --git a/stage/blender/probe.py b/stage/blender/probe.py
new file mode 100644
index 0000000..aaffaf4
--- /dev/null
+++ b/stage/blender/probe.py
@@ -0,0 +1,816 @@
+"""YJ-01 Voyager-class current-tech probe dataset for the artifact pipeline.
+
+Geometry ported from the legacy reference model:
+    /home/somhairle/Projects/interstellar-dual-track/current-tech-probe/scripts/build_probe.py
+(line ranges cited per stage below). Object ids are mapped from the legacy
+UPPER_SNAKE names onto lowercase dotted ids, e.g.:
+
+    BUS_ELECTRONICS_DECAGON  -> probe.bus.electronics.decagon
+    BUS_BAY_PANEL_00         -> probe.bus.bay.panel.00
+    RTG_01_FIN_0             -> probe.rtg.01.fin.00
+    HGA_FEED_STRUT_3         -> probe.hga.strut.03
+    MAGNETOMETER_SENSOR_A    -> probe.mag.sensor.a
+
+Display plinth, information card and MODEL_LABEL are intentionally excluded.
+工程限制: 非飞行设计 heritage 参考.
+
+Contract (identical to fixture.py):
+    --step-id <id> --output <glb> --result-output <json> [--render-output <png>]
+"""
+
+import argparse
+import json
+import math
+import os
+import sys
+from datetime import datetime, timezone
+
+import bpy  # noqa: F401  (must be imported before mathutils: registers the bundled mathutils module)
+from mathutils import Vector
+
+# Cumulative object id lists per step. Must stay in lockstep with
+# Design.probeSteps in src/SomhairlesDream.Modeling/Definitions.fs.
+STEP_OBJECTS = {
+    "probe-01-bus": [
+        "probe.bus.electronics.decagon",
+        "probe.bus.ring.front",
+        "probe.bus.ring.rear",
+        "probe.bus.bay.panel.00",
+        "probe.bus.bay.panel.01",
+        "probe.bus.bay.panel.02",
+        "probe.bus.bay.panel.03",
+        "probe.bus.bay.panel.04",
+        "probe.bus.bay.panel.05",
+        "probe.bus.bay.panel.06",
+        "probe.bus.bay.panel.07",
+        "probe.bus.bay.panel.08",
+        "probe.bus.bay.panel.09",
+        "probe.bus.mli.top",
+        "probe.bus.mli.bottom",
+        "probe.bus.radiator.port",
+        "probe.bus.radiator.starboard",
+        "probe.aacs",
+        "probe.thruster.01",
+        "probe.thruster.02",
+        "probe.thruster.03",
+        "probe.thruster.04",
+    ],
+    "probe-02-boom": [
+        "probe.bus.electronics.decagon",
+        "probe.bus.ring.front",
+        "probe.bus.ring.rear",
+        "probe.bus.bay.panel.00",
+        "probe.bus.bay.panel.01",
+        "probe.bus.bay.panel.02",
+        "probe.bus.bay.panel.03",
+        "probe.bus.bay.panel.04",
+        "probe.bus.bay.panel.05",
+        "probe.bus.bay.panel.06",
+        "probe.bus.bay.panel.07",
+        "probe.bus.bay.panel.08",
+        "probe.bus.bay.panel.09",
+        "probe.bus.mli.top",
+        "probe.bus.mli.bottom",
+        "probe.bus.radiator.port",
+        "probe.bus.radiator.starboard",
+        "probe.aacs",
+        "probe.thruster.01",
+        "probe.thruster.02",
+        "probe.thruster.03",
+        "probe.thruster.04",
+        "probe.rtg.boom",
+        "probe.mag.boom",
+        "probe.mag.head",
+        "probe.mag.sensor.a",
+        "probe.mag.sensor.b",
+        "probe.pws.antenna.left",
+        "probe.pws.antenna.right",
+        "probe.pws.tip.left",
+        "probe.pws.tip.right",
+    ],
+    "probe-03-rtg": [
+        "probe.bus.electronics.decagon",
+        "probe.bus.ring.front",
+        "probe.bus.ring.rear",
+        "probe.bus.bay.panel.00",
+        "probe.bus.bay.panel.01",
+        "probe.bus.bay.panel.02",
+        "probe.bus.bay.panel.03",
+        "probe.bus.bay.panel.04",
+        "probe.bus.bay.panel.05",
+        "probe.bus.bay.panel.06",
+        "probe.bus.bay.panel.07",
+        "probe.bus.bay.panel.08",
+        "probe.bus.bay.panel.09",
+        "probe.bus.mli.top",
+        "probe.bus.mli.bottom",
+        "probe.bus.radiator.port",
+        "probe.bus.radiator.starboard",
+        "probe.aacs",
+        "probe.thruster.01",
+        "probe.thruster.02",
+        "probe.thruster.03",
+        "probe.thruster.04",
+        "probe.rtg.boom",
+        "probe.mag.boom",
+        "probe.mag.head",
+        "probe.mag.sensor.a",
+        "probe.mag.sensor.b",
+        "probe.pws.antenna.left",
+        "probe.pws.antenna.right",
+        "probe.pws.tip.left",
+        "probe.pws.tip.right",
+        "probe.rtg.01",
+        "probe.rtg.01.fin.00",
+        "probe.rtg.01.fin.01",
+        "probe.rtg.01.fin.02",
+        "probe.rtg.02",
+        "probe.rtg.02.fin.00",
+        "probe.rtg.02.fin.01",
+        "probe.rtg.02.fin.02",
+        "probe.rtg.03",
+        "probe.rtg.03.fin.00",
+        "probe.rtg.03.fin.01",
+        "probe.rtg.03.fin.02",
+    ],
+    "probe-04-hga": [
+        "probe.bus.electronics.decagon",
+        "probe.bus.ring.front",
+        "probe.bus.ring.rear",
+        "probe.bus.bay.panel.00",
+        "probe.bus.bay.panel.01",
+        "probe.bus.bay.panel.02",
+        "probe.bus.bay.panel.03",
+        "probe.bus.bay.panel.04",
+        "probe.bus.bay.panel.05",
+        "probe.bus.bay.panel.06",
+        "probe.bus.bay.panel.07",
+        "probe.bus.bay.panel.08",
+        "probe.bus.bay.panel.09",
+        "probe.bus.mli.top",
+        "probe.bus.mli.bottom",
+        "probe.bus.radiator.port",
+        "probe.bus.radiator.starboard",
+        "probe.aacs",
+        "probe.thruster.01",
+        "probe.thruster.02",
+        "probe.thruster.03",
+        "probe.thruster.04",
+        "probe.rtg.boom",
+        "probe.mag.boom",
+        "probe.mag.head",
+        "probe.mag.sensor.a",
+        "probe.mag.sensor.b",
+        "probe.pws.antenna.left",
+        "probe.pws.antenna.right",
+        "probe.pws.tip.left",
+        "probe.pws.tip.right",
+        "probe.rtg.01",
+        "probe.rtg.01.fin.00",
+        "probe.rtg.01.fin.01",
+        "probe.rtg.01.fin.02",
+        "probe.rtg.02",
+        "probe.rtg.02.fin.00",
+        "probe.rtg.02.fin.01",
+        "probe.rtg.02.fin.02",
+        "probe.rtg.03",
+        "probe.rtg.03.fin.00",
+        "probe.rtg.03.fin.01",
+        "probe.rtg.03.fin.02",
+        "probe.hga.reflector",
+        "probe.hga.feed",
+        "probe.hga.strut.00",
+        "probe.hga.strut.01",
+        "probe.hga.strut.02",
+        "probe.hga.strut.03",
+    ],
+    "probe-05-instruments": [
+        "probe.bus.electronics.decagon",
+        "probe.bus.ring.front",
+        "probe.bus.ring.rear",
+        "probe.bus.bay.panel.00",
+        "probe.bus.bay.panel.01",
+        "probe.bus.bay.panel.02",
+        "probe.bus.bay.panel.03",
+        "probe.bus.bay.panel.04",
+        "probe.bus.bay.panel.05",
+        "probe.bus.bay.panel.06",
+        "probe.bus.bay.panel.07",
+        "probe.bus.bay.panel.08",
+        "probe.bus.bay.panel.09",
+        "probe.bus.mli.top",
+        "probe.bus.mli.bottom",
+        "probe.bus.radiator.port",
+        "probe.bus.radiator.starboard",
+        "probe.aacs",
+        "probe.thruster.01",
+        "probe.thruster.02",
+        "probe.thruster.03",
+        "probe.thruster.04",
+        "probe.rtg.boom",
+        "probe.mag.boom",
+        "probe.mag.head",
+        "probe.mag.sensor.a",
+        "probe.mag.sensor.b",
+        "probe.pws.antenna.left",
+        "probe.pws.antenna.right",
+        "probe.pws.tip.left",
+        "probe.pws.tip.right",
+        "probe.rtg.01",
+        "probe.rtg.01.fin.00",
+        "probe.rtg.01.fin.01",
+        "probe.rtg.01.fin.02",
+        "probe.rtg.02",
+        "probe.rtg.02.fin.00",
+        "probe.rtg.02.fin.01",
+        "probe.rtg.02.fin.02",
+        "probe.rtg.03",
+        "probe.rtg.03.fin.00",
+        "probe.rtg.03.fin.01",
+        "probe.rtg.03.fin.02",
+        "probe.hga.reflector",
+        "probe.hga.feed",
+        "probe.hga.strut.00",
+        "probe.hga.strut.01",
+        "probe.hga.strut.02",
+        "probe.hga.strut.03",
+        "probe.scan.pivot",
+        "probe.scan.platform",
+        "probe.crs",
+        "probe.plasma",
+        "probe.optical",
+        "probe.optical.aperture",
+    ],
+    "probe-06-mast": [
+        "probe.bus.electronics.decagon",
+        "probe.bus.ring.front",
+        "probe.bus.ring.rear",
+        "probe.bus.bay.panel.00",
+        "probe.bus.bay.panel.01",
+        "probe.bus.bay.panel.02",
+        "probe.bus.bay.panel.03",
+        "probe.bus.bay.panel.04",
+        "probe.bus.bay.panel.05",
+        "probe.bus.bay.panel.06",
+        "probe.bus.bay.panel.07",
+        "probe.bus.bay.panel.08",
+        "probe.bus.bay.panel.09",
+        "probe.bus.mli.top",
+        "probe.bus.mli.bottom",
+        "probe.bus.radiator.port",
+        "probe.bus.radiator.starboard",
+        "probe.aacs",
+        "probe.thruster.01",
+        "probe.thruster.02",
+        "probe.thruster.03",
+        "probe.thruster.04",
+        "probe.rtg.boom",
+        "probe.mag.boom",
+        "probe.mag.head",
+        "probe.mag.sensor.a",
+        "probe.mag.sensor.b",
+        "probe.pws.antenna.left",
+        "probe.pws.antenna.right",
+        "probe.pws.tip.left",
+        "probe.pws.tip.right",
+        "probe.rtg.01",
+        "probe.rtg.01.fin.00",
+        "probe.rtg.01.fin.01",
+        "probe.rtg.01.fin.02",
+        "probe.rtg.02",
+        "probe.rtg.02.fin.00",
+        "probe.rtg.02.fin.01",
+        "probe.rtg.02.fin.02",
+        "probe.rtg.03",
+        "probe.rtg.03.fin.00",
+        "probe.rtg.03.fin.01",
+        "probe.rtg.03.fin.02",
+        "probe.hga.reflector",
+        "probe.hga.feed",
+        "probe.hga.strut.00",
+        "probe.hga.strut.01",
+        "probe.hga.strut.02",
+        "probe.hga.strut.03",
+        "probe.scan.pivot",
+        "probe.scan.platform",
+        "probe.crs",
+        "probe.plasma",
+        "probe.optical",
+        "probe.optical.aperture",
+        "probe.science.boom",
+    ],
+    "probe-07-livery": [
+        "probe.bus.electronics.decagon",
+        "probe.bus.ring.front",
+        "probe.bus.ring.rear",
+        "probe.bus.bay.panel.00",
+        "probe.bus.bay.panel.01",
+        "probe.bus.bay.panel.02",
+        "probe.bus.bay.panel.03",
+        "probe.bus.bay.panel.04",
+        "probe.bus.bay.panel.05",
+        "probe.bus.bay.panel.06",
+        "probe.bus.bay.panel.07",
+        "probe.bus.bay.panel.08",
+        "probe.bus.bay.panel.09",
+        "probe.bus.mli.top",
+        "probe.bus.mli.bottom",
+        "probe.bus.radiator.port",
+        "probe.bus.radiator.starboard",
+        "probe.aacs",
+        "probe.thruster.01",
+        "probe.thruster.02",
+        "probe.thruster.03",
+        "probe.thruster.04",
+        "probe.rtg.boom",
+        "probe.mag.boom",
+        "probe.mag.head",
+        "probe.mag.sensor.a",
+        "probe.mag.sensor.b",
+        "probe.pws.antenna.left",
+        "probe.pws.antenna.right",
+        "probe.pws.tip.left",
+        "probe.pws.tip.right",
+        "probe.rtg.01",
+        "probe.rtg.01.fin.00",
+        "probe.rtg.01.fin.01",
+        "probe.rtg.01.fin.02",
+        "probe.rtg.02",
+        "probe.rtg.02.fin.00",
+        "probe.rtg.02.fin.01",
+        "probe.rtg.02.fin.02",
+        "probe.rtg.03",
+        "probe.rtg.03.fin.00",
+        "probe.rtg.03.fin.01",
+        "probe.rtg.03.fin.02",
+        "probe.hga.reflector",
+        "probe.hga.feed",
+        "probe.hga.strut.00",
+        "probe.hga.strut.01",
+        "probe.hga.strut.02",
+        "probe.hga.strut.03",
+        "probe.scan.pivot",
+        "probe.scan.platform",
+        "probe.crs",
+        "probe.plasma",
+        "probe.optical",
+        "probe.optical.aperture",
+        "probe.science.boom",
+    ],
+}
+
+LIVERY_STEPS = {"probe-07-livery"}
+
+
+def utc_now():
+    return datetime.now(timezone.utc).isoformat().replace("+00:00", "Z")
+
+
+def fail(message, code):
+    print(message, file=sys.stderr)
+    raise SystemExit(code)
+
+
+def rgba(rgb, alpha=1.0):
+    return (*rgb, alpha)
+
+
+def make_material(bpy, name, color, *, metallic=0.0, roughness=0.45, emission=None, emission_strength=0.0):
+    material = bpy.data.materials.get(name) or bpy.data.materials.new(name)
+    material.use_nodes = True
+    material.diffuse_color = rgba(color)
+    shader = material.node_tree.nodes.get("Principled BSDF")
+    shader.inputs["Base Color"].default_value = rgba(color)
+    shader.inputs["Metallic"].default_value = metallic
+    shader.inputs["Roughness"].default_value = roughness
+    if emission is not None:
+        emission_input = shader.inputs.get("Emission Color") or shader.inputs.get("Emission")
+        if emission_input:
+            emission_input.default_value = rgba(emission)
+        strength_input = shader.inputs.get("Emission Strength")
+        if strength_input:
+            strength_input.default_value = emission_strength
+    return material
+
+
+def build_materials(bpy):
+    return {
+        "clay_body": make_material(bpy, "CLAY BODY", (0.38, 0.42, 0.46), metallic=0.20, roughness=0.38),
+        "clay_structure": make_material(bpy, "CLAY STRUCTURE", (0.17, 0.21, 0.25), metallic=0.65, roughness=0.32),
+        "clay_dark": make_material(bpy, "CLAY DARK", (0.045, 0.055, 0.065), metallic=0.45, roughness=0.28),
+        "clay_mli": make_material(bpy, "CLAY MLI", (0.54, 0.56, 0.52), metallic=0.08, roughness=0.50),
+        "clay_white": make_material(bpy, "CLAY REFLECTOR", (0.62, 0.65, 0.67), metallic=0.18, roughness=0.34),
+        "clay_glass": make_material(bpy, "CLAY GLASS", (0.035, 0.10, 0.13), metallic=0.12, roughness=0.14, emission=(0.01, 0.05, 0.07), emission_strength=0.15),
+        "livery_body": make_material(bpy, "LIVERY BODY BLUE", (0.045, 0.16, 0.22), metallic=0.35, roughness=0.30),
+        "livery_structure": make_material(bpy, "LIVERY STRUCTURE", (0.13, 0.18, 0.22), metallic=0.78, roughness=0.24),
+        "livery_dark": make_material(bpy, "LIVERY GRAPHITE", (0.018, 0.025, 0.032), metallic=0.70, roughness=0.24),
+        "livery_mli": make_material(bpy, "LIVERY MLI GOLD", (0.58, 0.34, 0.10), metallic=0.30, roughness=0.35),
+        "livery_white": make_material(bpy, "LIVERY DISH WHITE", (0.78, 0.81, 0.79), metallic=0.15, roughness=0.28),
+        "livery_red": make_material(bpy, "LIVERY RESTRAINED RED", (0.52, 0.025, 0.018), metallic=0.22, roughness=0.28),
+        "livery_glass": make_material(bpy, "LIVERY GLASS", (0.008, 0.055, 0.085), metallic=0.20, roughness=0.10, emission=(0.005, 0.045, 0.09), emission_strength=0.20),
+    }
+
+
+def clear_scene(bpy):
+    bpy.ops.wm.read_factory_settings(use_empty=True)
+
+
+def add_beveled_cube(bpy, name, location, dimensions, clay_material, livery_material, bevel=0.04, rotation=None):
+    bpy.ops.mesh.primitive_cube_add(location=location, rotation=rotation or (0.0, 0.0, 0.0))
+    obj = bpy.context.object
+    obj.name = name
+    obj.data.name = name + ".mesh"
+    obj.dimensions = dimensions
+    bpy.ops.object.transform_apply(location=False, rotation=False, scale=True)
+    if bevel:
+        modifier = obj.modifiers.new("Structural edge softening", "BEVEL")
+        modifier.width = bevel
+        modifier.segments = 3
+    return assign_variants(obj, clay_material, livery_material)
+
+
+def add_cylinder(bpy, name, location, radius, depth, clay_material, livery_material, *, rotation=(0.0, 0.0, 0.0), vertices=32):
+    bpy.ops.mesh.primitive_cylinder_add(
+        vertices=vertices,
+        radius=radius,
+        depth=depth,
+        location=location,
+        rotation=rotation,
+    )
+    obj = bpy.context.object
+    obj.name = name
+    obj.data.name = name + ".mesh"
+    return assign_variants(obj, clay_material, livery_material)
+
+
+def add_cone(bpy, name, location, radius1, radius2, depth, clay_material, livery_material, *, rotation=(0.0, 0.0, 0.0)):
+    bpy.ops.mesh.primitive_cone_add(
+        vertices=24,
+        radius1=radius1,
+        radius2=radius2,
+        depth=depth,
+        location=location,
+        rotation=rotation,
+    )
+    obj = bpy.context.object
+    obj.name = name
+    obj.data.name = name + ".mesh"
+    return assign_variants(obj, clay_material, livery_material)
+
+
+def add_uv_sphere(bpy, name, location, radius, clay_material, livery_material):
+    bpy.ops.mesh.primitive_uv_sphere_add(segments=32, ring_count=16, radius=radius, location=location)
+    obj = bpy.context.object
+    obj.name = name
+    obj.data.name = name + ".mesh"
+    return assign_variants(obj, clay_material, livery_material)
+
+
+def add_torus(bpy, name, location, major_radius, minor_radius, clay_material, livery_material, *, rotation=(0.0, 0.0, 0.0)):
+    bpy.ops.mesh.primitive_torus_add(
+        major_radius=major_radius,
+        minor_radius=minor_radius,
+        major_segments=48,
+        minor_segments=10,
+        location=location,
+        rotation=rotation,
+    )
+    obj = bpy.context.object
+    obj.name = name
+    obj.data.name = name + ".mesh"
+    return assign_variants(obj, clay_material, livery_material)
+
+
+def add_between(bpy, name, start, end, radius, clay_material, livery_material, vertices=20):
+    start_vec = Vector(start)
+    end_vec = Vector(end)
+    delta = end_vec - start_vec
+    obj = add_cylinder(
+        bpy,
+        name,
+        (start_vec + end_vec) / 2.0,
+        radius,
+        delta.length,
+        clay_material,
+        livery_material,
+        vertices=vertices,
+    )
+    obj.rotation_euler = delta.to_track_quat("Z", "Y").to_euler()
+    return obj
+
+
+def add_dish(bpy, name, base_x, center_y, center_z, radius, depth, clay_material, livery_material):
+    """Create a shallow open paraboloid whose boresight points along +X."""
+    segments = 64
+    rings = 9
+    vertices = [(base_x, center_y, center_z)]
+    for ring in range(1, rings + 1):
+        fraction = ring / rings
+        ring_radius = radius * fraction
+        ring_x = base_x + depth * fraction * fraction
+        for segment in range(segments):
+            angle = 2.0 * math.pi * segment / segments
+            vertices.append(
+                (
+                    ring_x,
+                    center_y + ring_radius * math.cos(angle),
+                    center_z + ring_radius * math.sin(angle),
+                )
+            )
+    faces = []
+    for segment in range(segments):
+        faces.append((0, 1 + segment, 1 + (segment + 1) % segments))
+    for ring in range(1, rings):
+        first = 1 + (ring - 1) * segments
+        next_first = first + segments
+        for segment in range(segments):
+            current = first + segment
+            following = first + (segment + 1) % segments
+            next_current = next_first + segment
+            next_following = next_first + (segment + 1) % segments
+            faces.append((current, next_current, next_following, following))
+    mesh = bpy.data.meshes.new(name + ".mesh")
+    mesh.from_pydata(vertices, [], faces)
+    mesh.update()
+    obj = bpy.data.objects.new(name, mesh)
+    bpy.context.collection.objects.link(obj)
+    assign_variants(obj, clay_material, livery_material)
+    solidify = obj.modifiers.new("Reflector thickness", "SOLIDIFY")
+    solidify.thickness = 0.012
+    return obj
+
+
+def assign_variants(obj, clay_material, livery_material):
+    obj["object_id"] = obj.name
+    obj["clay_material"] = clay_material.name
+    obj["livery_material"] = livery_material.name
+    obj.data.materials.clear()
+    obj.data.materials.append(clay_material)
+    return obj
+
+
+def apply_material_mode(bpy, materials, mode):
+    if mode not in {"clay", "livery"}:
+        raise ValueError(f"unknown material mode: {mode}")
+    for obj in bpy.context.scene.objects:
+        material_name = obj.get(f"{mode}_material")
+        if not material_name or not obj.data or not hasattr(obj.data, "materials"):
+            continue
+        material = bpy.data.materials.get(material_name)
+        if material is None:
+            raise RuntimeError(f"missing material {material_name!r} for {obj.name}")
+        obj.data.materials.clear()
+        obj.data.materials.append(material)
+
+
+def build_geometry(bpy, materials, step_id):
+    """Build every object of the cumulative step, in STEP_OBJECTS order.
+
+    Stage sources (legacy build_probe.py):
+        probe-01-bus         :364-390, :401-404
+        probe-02-boom        :406-410, :418-433
+        probe-03-rtg         :411-416
+        probe-04-hga         :392-399
+        probe-05-instruments :437-442
+        probe-06-mast        :436, :443-444
+        probe-07-livery      :450-473 (livery material mode over the full model)
+    """
+    clay_body = materials["clay_body"]
+    clay_structure = materials["clay_structure"]
+    clay_dark = materials["clay_dark"]
+    clay_mli = materials["clay_mli"]
+    clay_white = materials["clay_white"]
+    clay_glass = materials["clay_glass"]
+    livery_body = materials["livery_body"]
+    livery_structure = materials["livery_structure"]
+    livery_dark = materials["livery_dark"]
+    livery_mli = materials["livery_mli"]
+    livery_white = materials["livery_white"]
+    livery_red = materials["livery_red"]
+    livery_glass = materials["livery_glass"]
+
+    objects = {}
+    bay_panel_livery = {}
+    for index in range(10):
+        bay_panel_livery[f"probe.bus.bay.panel.{index:02d}"] = livery_red if index in {1, 6} else livery_structure
+
+    for object_id in STEP_OBJECTS[step_id]:
+        if object_id == "probe.bus.electronics.decagon":
+            objects[object_id] = add_cylinder(bpy, object_id, (0.0, 0.0, 0.0), 0.45, 0.48, clay_body, livery_body, rotation=(0.0, math.pi / 2.0, 0.0), vertices=10)
+        elif object_id == "probe.bus.ring.front":
+            objects[object_id] = add_torus(bpy, object_id, (0.25, 0.0, 0.0), 0.41, 0.025, clay_structure, livery_structure, rotation=(0.0, math.pi / 2.0, 0.0))
+        elif object_id == "probe.bus.ring.rear":
+            objects[object_id] = add_torus(bpy, object_id, (-0.25, 0.0, 0.0), 0.41, 0.025, clay_structure, livery_structure, rotation=(0.0, math.pi / 2.0, 0.0))
+        elif object_id.startswith("probe.bus.bay.panel."):
+            index = int(object_id.rsplit(".", 1)[-1])
+            angle = 2.0 * math.pi * index / 10.0
+            y = 0.46 * math.cos(angle)
+            z = 0.46 * math.sin(angle)
+            objects[object_id] = add_beveled_cube(bpy, object_id, (-0.01, y, z), (0.36, 0.055, 0.18), clay_structure, bay_panel_livery[object_id], bevel=0.018, rotation=(angle, 0.0, 0.0))
+        elif object_id == "probe.bus.mli.top":
+            objects[object_id] = add_beveled_cube(bpy, object_id, (-0.02, 0.0, 0.465), (0.34, 0.56, 0.055), clay_mli, livery_mli, bevel=0.012)
+        elif object_id == "probe.bus.mli.bottom":
+            objects[object_id] = add_beveled_cube(bpy, object_id, (-0.02, 0.0, -0.465), (0.34, 0.56, 0.055), clay_mli, livery_mli, bevel=0.012)
+        elif object_id == "probe.bus.radiator.port":
+            objects[object_id] = add_beveled_cube(bpy, object_id, (-0.05, -0.47, 0.0), (0.28, 0.045, 0.34), clay_dark, livery_dark, bevel=0.012)
+        elif object_id == "probe.bus.radiator.starboard":
+            objects[object_id] = add_beveled_cube(bpy, object_id, (-0.05, 0.47, 0.0), (0.28, 0.045, 0.34), clay_dark, livery_dark, bevel=0.012)
+        elif object_id == "probe.aacs":
+            objects[object_id] = add_beveled_cube(bpy, object_id, (-0.28, 0.0, 0.18), (0.08, 0.22, 0.18), clay_dark, livery_dark, bevel=0.018)
+        elif object_id.startswith("probe.thruster."):
+            index = int(object_id.rsplit(".", 1)[-1])
+            y, z = ((-0.30, -0.25), (-0.30, 0.25), (0.30, -0.25), (0.30, 0.25))[index - 1]
+            objects[object_id] = add_cone(bpy, object_id, (-0.28, y, z), 0.045, 0.018, 0.10, clay_dark, livery_dark, rotation=(0.0, math.pi / 2.0, 0.0))
+        elif object_id == "probe.rtg.boom":
+            objects[object_id] = add_between(bpy, object_id, (-0.12, -0.42, -0.16), (-0.12, -1.85, -0.16), 0.028, clay_structure, livery_structure)
+        elif object_id == "probe.mag.boom":
+            objects[object_id] = add_between(bpy, object_id, (0.0, 0.18, 0.18), (0.0, 6.50, 0.18), 0.022, clay_structure, livery_structure)
+        elif object_id == "probe.mag.head":
+            objects[object_id] = add_cylinder(bpy, object_id, (0.0, 6.56, 0.18), 0.10, 0.20, clay_dark, livery_dark, rotation=(math.pi / 2.0, 0.0, 0.0))
+        elif object_id == "probe.mag.sensor.a":
+            objects[object_id] = add_uv_sphere(bpy, object_id, (0.0, 6.68, 0.25), 0.045, clay_glass, livery_glass)
+        elif object_id == "probe.mag.sensor.b":
+            objects[object_id] = add_uv_sphere(bpy, object_id, (0.0, 6.68, 0.11), 0.045, clay_glass, livery_glass)
+        elif object_id == "probe.pws.antenna.left":
+            objects[object_id] = add_between(bpy, object_id, (-0.12, 0.0, 0.28), (-0.12, -2.50, 1.10), 0.012, clay_structure, livery_structure, vertices=12)
+        elif object_id == "probe.pws.antenna.right":
+            objects[object_id] = add_between(bpy, object_id, (-0.12, 0.0, 0.28), (-0.12, 2.50, 1.10), 0.012, clay_structure, livery_structure, vertices=12)
+        elif object_id == "probe.pws.tip.left":
+            objects[object_id] = add_uv_sphere(bpy, object_id, (-0.12, -2.50, 1.10), 0.035, clay_structure, livery_red)
+        elif object_id == "probe.pws.tip.right":
+            objects[object_id] = add_uv_sphere(bpy, object_id, (-0.12, 2.50, 1.10), 0.035, clay_structure, livery_red)
+        elif object_id.startswith("probe.rtg.") and object_id.endswith(tuple(f".fin.{i:02d}" for i in range(3))):
+            rtg_part, fin_part = object_id.rsplit(".fin.", 1)
+            rtg_index = int(rtg_part.rsplit(".", 1)[-1])
+            fin_index = int(fin_part)
+            y = (-0.80, -1.22, -1.64)[rtg_index - 1] - 0.09 + fin_index * 0.09
+            objects[object_id] = add_torus(bpy, object_id, (-0.12, y, -0.16), 0.112, 0.015, clay_structure, livery_structure, rotation=(math.pi / 2.0, 0.0, 0.0))
+        elif object_id.startswith("probe.rtg."):
+            index = int(object_id.rsplit(".", 1)[-1])
+            y = (-0.80, -1.22, -1.64)[index - 1]
+            objects[object_id] = add_cylinder(bpy, object_id, (-0.12, y, -0.16), 0.105, 0.27, clay_dark, livery_dark, rotation=(math.pi / 2.0, 0.0, 0.0))
+        elif object_id == "probe.hga.reflector":
+            objects[object_id] = add_dish(bpy, object_id, 0.30, 0.0, 0.0, 0.925, 0.14, clay_white, livery_white)
+        elif object_id == "probe.hga.feed":
+            objects[object_id] = add_cylinder(bpy, object_id, (0.95, 0.0, 0.0), 0.075, 0.12, clay_glass, livery_glass, rotation=(0.0, math.pi / 2.0, 0.0))
+        elif object_id.startswith("probe.hga.strut."):
+            index = int(object_id.rsplit(".", 1)[-1])
+            point = ((0.41, -0.60, -0.60), (0.41, -0.60, 0.60), (0.41, 0.60, -0.60), (0.41, 0.60, 0.60))[index]
+            objects[object_id] = add_between(bpy, object_id, point, (0.95, 0.0, 0.0), 0.018, clay_structure, livery_structure, vertices=12)
+        elif object_id == "probe.scan.pivot":
+            objects[object_id] = add_cylinder(bpy, object_id, (0.0, 0.0, 1.53), 0.11, 0.12, clay_dark, livery_dark)
+        elif object_id == "probe.scan.platform":
+            objects[object_id] = add_beveled_cube(bpy, object_id, (0.0, 0.0, 1.60), (0.32, 0.48, 0.12), clay_body, livery_body, bevel=0.025)
+        elif object_id == "probe.crs":
+            objects[object_id] = add_beveled_cube(bpy, object_id, (0.15, 0.0, 1.76), (0.18, 0.18, 0.15), clay_dark, livery_dark, bevel=0.02)
+        elif object_id == "probe.plasma":
+            objects[object_id] = add_beveled_cube(bpy, object_id, (-0.15, 0.0, 1.76), (0.18, 0.18, 0.15), clay_dark, livery_dark, bevel=0.02)
+        elif object_id == "probe.optical":
+            objects[object_id] = add_beveled_cube(bpy, object_id, (0.0, -0.16, 1.76), (0.20, 0.12, 0.15), clay_body, livery_body, bevel=0.018)
+        elif object_id == "probe.optical.aperture":
+            objects[object_id] = add_cylinder(bpy, object_id, (0.11, -0.16, 1.76), 0.045, 0.035, clay_glass, livery_glass, rotation=(0.0, math.pi / 2.0, 0.0))
+        elif object_id == "probe.science.boom":
+            objects[object_id] = add_between(bpy, object_id, (0.0, 0.0, 0.34), (0.0, 0.0, 1.50), 0.035, clay_structure, livery_structure)
+        else:
+            fail("unknown object id: " + object_id, 4)
+
+    ordered = [objects[object_id] for object_id in STEP_OBJECTS[step_id]]
+    for obj, object_id in zip(ordered, STEP_OBJECTS[step_id]):
+        if obj.get("object_id") != object_id:
+            fail("source object custom property verification failed", 4)
+    return ordered
+
+
+def add_render_setup(bpy):
+    from mathutils import Vector
+
+    scene = bpy.context.scene
+    scene.render.resolution_x = 512
+    scene.render.resolution_y = 512
+    scene.render.resolution_percentage = 100
+    scene.render.image_settings.file_format = "PNG"
+    if scene.world is None:
+        scene.world = bpy.data.worlds.new("probe.world")
+    scene.world.color = (0.025, 0.035, 0.045)
+
+    camera_data = bpy.data.cameras.new("probe.camera")
+    camera_data.type = "ORTHO"
+    camera_data.ortho_scale = 15.0
+    camera = bpy.data.objects.new("probe.camera", camera_data)
+    bpy.context.collection.objects.link(camera)
+    camera.location = (8.2, -12.5, 6.3)
+    camera.rotation_euler = (Vector((0.0, 2.0, 0.2)) - camera.location).to_track_quat("-Z", "Y").to_euler()
+    scene.camera = camera
+
+    light_data = bpy.data.lights.new("probe.key", type="AREA")
+    light_data.energy = 900
+    light_data.shape = "DISK"
+    light_data.size = 5.0
+    light = bpy.data.objects.new("probe.key", light_data)
+    bpy.context.collection.objects.link(light)
+    light.location = (4.0, -4.0, 8.0)
+    light.rotation_euler = (Vector((0.0, 2.0, 0.2)) - light.location).to_track_quat("-Z", "Y").to_euler()
+
+
+def export_glb(bpy, objects, output):
+    for obj in bpy.context.selected_objects:
+        obj.select_set(False)
+    for obj in objects:
+        obj.select_set(True)
+    bpy.context.view_layer.objects.active = objects[-1]
+    result = bpy.ops.export_scene.gltf(filepath=output, export_format="GLB", use_selection=True, export_apply=True)
+    if "FINISHED" not in result or not os.path.isfile(output) or os.path.getsize(output) <= 0:
+        fail("GLB export failed", 4)
+
+
+def write_result(path, response):
+    path = os.path.abspath(path)
+    os.makedirs(os.path.dirname(path), exist_ok=True)
+    temporary_path = path + ".tmp"
+    with open(temporary_path, "w", encoding="utf-8") as stream:
+        json.dump(response, stream, separators=(",", ":"))
+        stream.flush()
+        os.fsync(stream.fileno())
+    os.replace(temporary_path, path)
+
+
+def verify_reimport(bpy, output, expected):
+    clear_scene(bpy)
+    result = bpy.ops.import_scene.gltf(filepath=output)
+    if "FINISHED" not in result:
+        fail("GLB reimport failed", 4)
+
+    names = [obj.name for obj in bpy.context.scene.objects if obj.type == "MESH"]
+    if len(names) != len(expected) or set(names) != set(expected):
+        fail("GLB reimport object IDs did not match", 4)
+
+    return [object_id for object_id in expected if object_id in names]
+
+
+def main():
+    parser = argparse.ArgumentParser(add_help=False)
+    parser.add_argument("--step-id", required=True)
+    parser.add_argument("--output", required=True)
+    parser.add_argument("--render-output")
+    parser.add_argument("--result-output", required=True)
+    args = parser.parse_args()
+
+    if args.step_id not in STEP_OBJECTS:
+        fail("unknown step id", 2)
+    if bool(args.render_output) and os.path.abspath(args.render_output) == os.path.abspath(args.output):
+        fail("render output must differ from GLB output", 2)
+
+    try:
+        import bpy
+    except Exception as exc:
+        fail("bpy is unavailable: " + str(exc), 3)
+
+    if tuple(bpy.app.version) < (3, 0, 0):
+        fail("bpy version is unsupported", 3)
+
+    output = os.path.abspath(args.output)
+    result_output = os.path.abspath(args.result_output)
+    os.makedirs(os.path.dirname(output), exist_ok=True)
+
+    try:
+        clear_scene(bpy)
+        materials = build_materials(bpy)
+        objects = build_geometry(bpy, materials, args.step_id)
+        apply_material_mode(bpy, materials, "livery" if args.step_id in LIVERY_STEPS else "clay")
+        export_glb(bpy, objects, output)
+        exported_at = utc_now()
+        glb_bytes = os.path.getsize(output)
+
+        rendered_at = None
+        if args.render_output:
+            render_output = os.path.abspath(args.render_output)
+            os.makedirs(os.path.dirname(render_output), exist_ok=True)
+            add_render_setup(bpy)
+            bpy.context.scene.render.filepath = render_output
+            result = bpy.ops.render.render(write_still=True)
+            if "FINISHED" not in result or not os.path.isfile(render_output) or os.path.getsize(render_output) <= 0:
+                fail("PNG render failed", 4)
+            rendered_at = utc_now()
+
+        verified = verify_reimport(bpy, output, STEP_OBJECTS[args.step_id])
+        response = {
+            "ok": True,
+            "blenderVersion": ".".join(str(part) for part in bpy.app.version),
+            "exportedAt": exported_at,
+            "objectIds": STEP_OBJECTS[args.step_id],
+            "verifiedObjectIds": verified,
+            "glbBytes": glb_bytes,
+        }
+        if args.render_output:
+            response["renderPath"] = os.path.abspath(args.render_output)
+            response["renderedAt"] = rendered_at
+        write_result(result_output, response)
+        print("probe result written: " + result_output)
+    except SystemExit:
+        raise
+    except Exception as exc:
+        fail("probe failed: " + str(exc), 4)
+
+
+if __name__ == "__main__":
+    main()