run 20260428T211933Z-2a19

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": 0.05, "y": 0.05, "z": 0.02}
      }
    },
    "base_translated": {
      "id": "base_translated",
      "name": "Base Positioned",
      "op": {
        "type": "Translate",
        "child": "base",
        "offset": {"x": -0.025, "y": -0.025, "z": 0.0}
      }
    },
    "link1_cyl": {
      "id": "link1_cyl",
      "name": "Link 1 Cylinder",
      "op": {
        "type": "Cylinder",
        "radius": 0.008,
        "height": 0.15,
        "segments": 32
      }
    },
    "link1": {
      "id": "link1",
      "name": "Link 1",
      "op": {
        "type": "Translate",
        "child": "link1_cyl",
        "offset": {"x": 0.0, "y": 0.0, "z": 0.02}
      }
    },
    "link2_cyl": {
      "id": "link2_cyl",
      "name": "Link 2 Cylinder",
      "op": {
        "type": "Cylinder",
        "radius": 0.007,
        "height": 0.12,
        "segments": 32
      }
    },
    "link2": {
      "id": "link2",
      "name": "Link 2",
      "op": {
        "type": "Translate",
        "child": "link2_cyl",
        "offset": {"x": 0.0, "y": 0.0, "z": 0.0}
      }
    },
    "joint1_assembled": {
      "id": "joint1_assembled",
      "name": "Joint 1 Assembly",
      "op": {
        "type": "Union",
        "left": "base_translated",
        "right": "link1"
      }
    },
    "tip": {
      "id": "tip",
      "name": "End Effector Tip",
      "op": {
        "type": "Sphere",
        "radius": 0.005
      }
    },
    "full_assembly": {
      "id": "full_assembly",
      "name": "Full Manipulator Assembly",
      "op": {
        "type": "Union",
        "left": "joint1_assembled",
        "right": "link2"
      }
    },
    "manipulator_with_tip": {
      "id": "manipulator_with_tip",
      "name": "Manipulator with Tip",
      "op": {
        "type": "Union",
        "left": "full_assembly",
        "right": "tip"
      }
    }
  },
  "materials": {
    "default": {
      "color": [0.8, 0.8, 0.8],
      "metallic": 0.3,
      "roughness": 0.6
    },
    "steel": {
      "color": [0.6, 0.6, 0.65],
      "metallic": 0.8,
      "roughness": 0.2
    }
  },
  "part_materials": {
    "base_translated": "steel",
    "link1": "steel",
    "link2": "steel",
    "tip": "default"
  },
  "roots": [
    {
      "root": "manipulator_with_tip",
      "material": "default"
    }
  ],
  "joints": [
    {
      "name": "joint1",
      "parent": "base",
      "child": "link1",
      "type": "revolute",
      "axis": {"x": 0.0, "y": 1.0, "z": 0.0},
      "origin": {"x": 0.0, "y": 0.0, "z": 0.02},
      "limits": {
        "lower": -1.5708,
        "upper": 1.5708
      },
      "max_torque": 5.0,
      "max_velocity": 2.0
    },
    {
      "name": "joint2",
      "parent": "link1",
      "child": "link2",
      "type": "revolute",
      "axis": {"x": 0.0, "y": 1.0, "z": 0.0},
      "origin": {"x": 0.0, "y": 0.0, "z": 0.17},
      "limits": {
        "lower": -1.5708,
        "upper": 1.5708
      },
      "max_torque": 5.0,
      "max_velocity": 2.0
    },
    {
      "name": "tip_joint",
      "parent": "link2",
      "child": "tip",
      "type": "fixed",
      "origin": {"x": 0.0, "y": 0.0, "z": 0.12}
    }
  ],
  "initial_pose": {
    "joint1": 0.3,
    "joint2": 0.4
  }
}

generated 2026-06-19T01:47:56.294Z · static site, regenerate with npm run build -w @mecheval/leaderboard