run 20260428T211918Z-c7ec

Summary

Prompt

Design a tabletop manipulator that touches a target at (0.20, 0.00, 0.10) meters in the world frame. The base is fixed at the origin, with its lowest contact in the XY plane (z = 0). Use at least two actuated revolute joints. Each link's mass must be under 0.5 kg, and each joint's torque ceiling is 5 N·m. The end-effector link must be tagged 'tip'. The arm must reach the target without any link colliding with the table (z = 0 plane), the base, or itself. Output a complete .vcad assembly with body, joints, materials, and an initial pose; the grader will solve forward kinematics to find a configuration that reaches the target.

Checks

params: {
  "type": "valid_solid"
}

details: {
  "error": "parse: Invalid JSON vcad file: invalid value: expected key to be a number in quotes at line 4 column 5",
  "reason": "fatal evaluation error"
}

params: {
  "type": "body_valid"
}

details: {
  "needs": "vcad-gym (phyz + tang)",
  "reason": "skeleton — kernel wiring pending"
}

params: {
  "type": "fk_reaches",
  "target": [
    0.2,
    0,
    0.1
  ],
  "tolerance_m": 0.005
}

details: {
  "needs": "vcad-gym (phyz + tang)",
  "reason": "skeleton — kernel wiring pending"
}

params: {
  "type": "torque_budget",
  "payload_kg": 0,
  "safety_factor": 1.5
}

details: {
  "needs": "vcad-gym (phyz + tang)",
  "reason": "skeleton — kernel wiring pending"
}

params: {
  "type": "task_success",
  "task": "reach_target",
  "params": {
    "controller": "stock_pd",
    "max_steps": 1000,
    "target": [
      0.2,
      0,
      0.1
    ],
    "tolerance_m": 0.005
  }
}

details: {
  "needs": "vcad-gym (phyz + tang)",
  "reason": "skeleton — kernel wiring pending"
}

Tool calls

{
  "model": "claude-haiku-4-5-20251001",
  "max_tokens": 8000,
  "system_chars": 1632,
  "user_chars": 694
}

What the model built

.vcad source

{
  "version": "0.1",
  "nodes": {
    "base": {
      "id": "base",
      "name": "Base",
      "op": {
        "type": "Cube",
        "size": {"x": 0.08, "y": 0.08, "z": 0.02}
      }
    },
    "base_centered": {
      "id": "base_centered",
      "name": "BaseCentered",
      "op": {
        "type": "Translate",
        "child": "base",
        "offset": {"x": -0.04, "y": -0.04, "z": 0}
      }
    },
    "link1_cyl": {
      "id": "link1_cyl",
      "name": "Link1Cylinder",
      "op": {
        "type": "Cylinder",
        "radius": 0.01,
        "height": 0.15,
        "segments": 32
      }
    },
    "link1": {
      "id": "link1",
      "name": "Link1",
      "op": {
        "type": "Translate",
        "child": "link1_cyl",
        "offset": {"x": 0, "y": 0, "z": 0.02}
      }
    },
    "joint1_pivot": {
      "id": "joint1_pivot",
      "name": "Joint1Pivot",
      "op": {
        "type": "Translate",
        "child": "link1",
        "offset": {"x": 0, "y": 0, "z": 0}
      }
    },
    "link2_cyl": {
      "id": "link2_cyl",
      "name": "Link2Cylinder",
      "op": {
        "type": "Cylinder",
        "radius": 0.008,
        "height": 0.12,
        "segments": 32
      }
    },
    "link2": {
      "id": "link2",
      "name": "Link2",
      "op": {
        "type": "Translate",
        "child": "link2_cyl",
        "offset": {"x": 0, "y": 0, "z": 0.12}
      }
    },
    "joint2_pivot": {
      "id": "joint2_pivot",
      "name": "Joint2Pivot",
      "op": {
        "type": "Translate",
        "child": "link2",
        "offset": {"x": 0, "y": 0, "z": 0}
      }
    },
    "tip_sphere": {
      "id": "tip_sphere",
      "name": "TipSphere",
      "op": {
        "type": "Sphere",
        "radius": 0.005,
        "segments": 32
      }
    },
    "tip": {
      "id": "tip",
      "name": "Tip",
      "op": {
        "type": "Translate",
        "child": "tip_sphere",
        "offset": {"x": 0, "y": 0, "z": 0.12}
      }
    },
    "assembly": {
      "id": "assembly",
      "name": "Manipulator",
      "op": {
        "type": "Union",
        "left": "base_centered",
        "right": "joint1_pivot"
      }
    },
    "assembly2": {
      "id": "assembly2",
      "name": "ManipulatorWithLink2",
      "op": {
        "type": "Union",
        "left": "assembly",
        "right": "joint2_pivot"
      }
    },
    "assembly3": {
      "id": "assembly3",
      "name": "ManipulatorWithTip",
      "op": {
        "type": "Union",
        "left": "assembly2",
        "right": "tip"
      }
    }
  },
  "materials": {
    "aluminum": {
      "color": [0.9, 0.9, 0.95],
      "metallic": 0.8,
      "roughness": 0.3
    },
    "steel": {
      "color": [0.7, 0.7, 0.75],
      "metallic": 0.9,
      "roughness": 0.2
    },
    "rubber": {
      "color": [0.2, 0.2, 0.2],
      "metallic": 0.0,
      "roughness": 0.8
    }
  },
  "part_materials": {
    "base_centered": "rubber",
    "joint1_pivot": "aluminum",
    "joint2_pivot": "steel",
    "tip": "steel"
  },
  "roots": [
    {
      "root": "assembly3",
      "material": "default"
    }
  ],
  "joints": [
    {
      "name": "Joint1",
      "parent_body": "base",
      "child_body": "link1",
      "type": "revolute",
      "axis": {"x": 0, "y": 1, "z": 0},
      "anchor": {"x": 0, "y": 0, "z": 0.02},
      "angle_initial": 1.2,
      "torque_limit": 5.0
    },
    {
      "name": "Joint2",
      "parent_body": "link1",
      "child_body": "link2",
      "type": "revolute",
      "axis": {"x": 0, "y": 1, "z": 0},
      "anchor": {"x": 0, "y": 0, "z": 0.17},
      "angle_initial": -1.5,
      "torque_limit": 5.0
    }
  ]
}

generated 2026-06-19T01:47:56.292Z · static site, regenerate with npm run build -w @mecheval/leaderboard