run 20260428T211925Z-e26d

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_cube": {
      "id": "base_cube",
      "name": "base_cube",
      "op": {
        "type": "Cube",
        "size": {"x": 0.1, "y": 0.1, "z": 0.05}
      }
    },
    "base_translated": {
      "id": "base_translated",
      "name": "base_translated",
      "op": {
        "type": "Translate",
        "child": "base_cube",
        "offset": {"x": -0.05, "y": -0.05, "z": 0}
      }
    },
    "link1_cyl": {
      "id": "link1_cyl",
      "name": "link1_cyl",
      "op": {
        "type": "Cylinder",
        "radius": 0.012,
        "height": 0.15,
        "segments": 32
      }
    },
    "link1_translated": {
      "id": "link1_translated",
      "name": "link1_translated",
      "op": {
        "type": "Translate",
        "child": "link1_cyl",
        "offset": {"x": 0, "y": 0, "z": 0.05}
      }
    },
    "link2_cyl": {
      "id": "link2_cyl",
      "name": "link2_cyl",
      "op": {
        "type": "Cylinder",
        "radius": 0.01,
        "height": 0.15,
        "segments": 32
      }
    },
    "link2_translated": {
      "id": "link2_translated",
      "name": "link2_translated",
      "op": {
        "type": "Translate",
        "child": "link2_cyl",
        "offset": {"x": 0, "y": 0, "z": 0.15}
      }
    },
    "tip_sphere": {
      "id": "tip_sphere",
      "name": "tip_sphere",
      "op": {
        "type": "Sphere",
        "radius": 0.008,
        "segments": 32
      }
    },
    "tip_translated": {
      "id": "tip_translated",
      "name": "tip_translated",
      "op": {
        "type": "Translate",
        "child": "tip_sphere",
        "offset": {"x": 0, "y": 0, "z": 0.3}
      }
    },
    "assembly": {
      "id": "assembly",
      "name": "assembly",
      "op": {
        "type": "Union",
        "left": "base_translated",
        "right": "link1_translated"
      }
    },
    "assembly2": {
      "id": "assembly2",
      "name": "assembly2",
      "op": {
        "type": "Union",
        "left": "assembly",
        "right": "link2_translated"
      }
    },
    "assembly3": {
      "id": "assembly3",
      "name": "assembly3",
      "op": {
        "type": "Union",
        "left": "assembly2",
        "right": "tip_translated"
      }
    }
  },
  "materials": {
    "default": {
      "color": [0.8, 0.8, 0.8],
      "metallic": 0.5,
      "roughness": 0.5
    },
    "base_mat": {
      "color": [0.3, 0.3, 0.3],
      "metallic": 0.7,
      "roughness": 0.3
    },
    "link1_mat": {
      "color": [0.6, 0.6, 0.6],
      "metallic": 0.5,
      "roughness": 0.4
    },
    "link2_mat": {
      "color": [0.7, 0.7, 0.7],
      "metallic": 0.5,
      "roughness": 0.4
    },
    "tip_mat": {
      "color": [0.2, 0.8, 0.2],
      "metallic": 0.3,
      "roughness": 0.6
    }
  },
  "part_materials": {
    "base_translated": "base_mat",
    "link1_translated": "link1_mat",
    "link2_translated": "link2_mat",
    "tip_translated": "tip_mat"
  },
  "roots": [
    {
      "root": "assembly3",
      "material": "default"
    }
  ],
  "joints": [
    {
      "name": "joint1",
      "type": "revolute",
      "parent": "base",
      "child": "link1",
      "axis": {"x": 0, "y": 1, "z": 0},
      "origin": {"x": 0, "y": 0, "z": 0.05},
      "limits": {"lower": -1.5708, "upper": 1.5708},
      "torque_limit": 5.0,
      "initial_angle": 0.7854
    },
    {
      "name": "joint2",
      "type": "revolute",
      "parent": "link1",
      "child": "link2",
      "axis": {"x": 0, "y": 1, "z": 0},
      "origin": {"x": 0, "y": 0, "z": 0.15},
      "limits": {"lower": -1.5708, "upper": 1.5708},
      "torque_limit": 5.0,
      "initial_angle": 0.7854
    }
  ],
  "links": [
    {
      "name": "base",
      "mass": 0.3,
      "inertia": {"ixx": 0.0001, "iyy": 0.0001, "izz": 0.0001}
    },
    {
      "name": "link1",
      "mass": 0.25,
      "inertia": {"ixx": 0.00005, "iyy": 0.00005, "izz": 0.00005}
    },
    {
      "name": "link2",
      "mass": 0.2,
      "inertia": {"ixx": 0.00003, "iyy": 0.00003, "izz": 0.00003},
      "tags": ["tip"]
    }
  ]
}

generated 2026-06-19T01:47:56.293Z · static site, regenerate with npm run build -w @mecheval/leaderboard