---
name: project_para_arm_beauty_detach
description: "Current PARA arm design state (2026-07-02): 'beauty' aesthetic variant + tool-free detachable fiducial mount. smith300_para_stuff/."
metadata: 
  node_type: memory
  type: project
  originSessionId: f6b5d2b8-94fd-4193-ba95-68aa32076e95
---

Active aesthetic = the **"beauty" variant** (`gen_beauty.py` -> `two_servo_beauty.urdf`), NOT the plain default:
- **Curvy waisted connectors** (`gen_curvy.py`): lofted cross-section interpolates HOLDER-face -> YOKE-arm along
  the length (`_rrect` fixed-point rounded rect) + waist pinch; `EXTRUDE_FRAC=0.5` (connector reaches out toward
  the yoke only half as far); `WAIST_BY_CONN={3:0.425}` (connector_3 slimmed, the fat one).
- **Filleted holders** (`holder_fillet.stl`, fillet_holder.py, R=2.5) + **filleted yokes** (`yoke_fillet.py`,
  bold 4mm arm round + 0.8 rest). **Yoke arm stub shortened to `link_len=5`mm** (was 70->20->10->5).
  Servo cavity/clamp/holes are NEVER touched by any fillet (fit preserved).

**Detachable fiducial mount** (`gen_detach.py` -> `two_servo_detach.urdf`), tool-free, no screws:
- Base split at the MOUNT: **Part A** `base_holder_detach.stl` = holder + base-mount + short 24mm shelf + 4
  upward pins (rounded lead-in tips). **Part B** `fiducial_mount.stl` = the whole connector + fiducial board +
  4 clearance holes. Both single watertight bodies.
- Joint is a **lap ABOVE the connector plane** (bump on top near the mount) so EVERYTHING bottoms out at the
  table plane (Y=-32, nothing pokes below -> robot sits flat). Part B drops straight down onto the pins; lift
  to detach. Pin clearance `CLEAR=0.35`mm is the one PRINT-TUNABLE knob (adjust after Cameron's test print).
- Cameron approved 2026-07-02, plans to **test-print week of ~2026-07-07**. STLs live in
  `smith300_para_stuff/`; NOT yet synced to `arm_stls/` (offer to sync when he's ready to print).

Pipeline + conventions in [[project_blender_connector_interface]]. Web viewer:
`cad.omidlab.net/?dir=/data/cameron/repos/smith300_para_stuff&file=<urdf>`.