run 20260428T212321Z-c84a

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: missing field `angles` at line 73 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-sonnet-4-6",
  "max_tokens": 8000,
  "system_chars": 1632,
  "user_chars": 694
}

What the model built

.vcad source

{
  "version": "0.1",
  "nodes": {
    "1": {
      "id": 1,
      "name": "base_cylinder",
      "op": {"type": "Cylinder", "radius": 30, "height": 40, "segments": 32}
    },
    "2": {
      "id": 2,
      "name": "base",
      "op": {"type": "Translate", "child": 1, "offset": {"x": 0, "y": 0, "z": 0}}
    },
    "3": {
      "id": 3,
      "name": "link1_body",
      "op": {"type": "Cube", "size": {"x": 20, "y": 20, "z": 100}}
    },
    "4": {
      "id": 4,
      "name": "link1_centered",
      "op": {"type": "Translate", "child": 3, "offset": {"x": -10, "y": -10, "z": 0}}
    },
    "5": {
      "id": 5,
      "name": "link1",
      "op": {"type": "Translate", "child": 4, "offset": {"x": 0, "y": 0, "z": 40}}
    },
    "6": {
      "id": 6,
      "name": "link2_body",
      "op": {"type": "Cube", "size": {"x": 16, "y": 16, "z": 120}}
    },
    "7": {
      "id": 7,
      "name": "link2_centered",
      "op": {"type": "Translate", "child": 6, "offset": {"x": -8, "y": -8, "z": 0}}
    },
    "8": {
      "id": 8,
      "name": "link2",
      "op": {"type": "Translate", "child": 7, "offset": {"x": 0, "y": 0, "z": 140}}
    },
    "9": {
      "id": 9,
      "name": "tip_sphere",
      "op": {"type": "Sphere", "radius": 8, "segments": 32}
    },
    "10": {
      "id": 10,
      "name": "tip",
      "op": {"type": "Translate", "child": 9, "offset": {"x": 0, "y": 0, "z": 260}}
    },
    "11": {
      "id": 11,
      "name": "arm_union_1",
      "op": {"type": "Union", "left": 5, "right": 8}
    },
    "12": {
      "id": 12,
      "name": "arm_union_2",
      "op": {"type": "Union", "left": 11, "right": 10}
    },
    "13": {
      "id": 13,
      "name": "full_assembly",
      "op": {"type": "Union", "left": 2, "right": 12}
    },
    "14": {
      "id": 14,
      "name": "assembly_rotated_joint1",
      "op": {"type": "Rotate", "child": 13, "axis": {"x": 0, "y": 0, "z": 1}, "angle": 0.0}
    },
    "15": {
      "id": 15,
      "name": "assembly_rotated_joint2",
      "op": {"type": "Rotate", "child": 14, "axis": {"x": 0, "y": 1, "z": 0}, "angle": 0.3948}
    }
  },
  "materials": {
    "default": {"base_color": [0.6, 0.6, 0.7, 1.0]},
    "tip_material": {"base_color": [1.0, 0.2, 0.2, 1.0]}
  },
  "part_materials": {
    "10": "tip_material"
  },
  "roots": [
    {"root": 15, "material": "default"}
  ]
}

generated 2026-06-19T01:47:56.298Z · static site, regenerate with npm run build -w @mecheval/leaderboard