← mecheval / run / c-reacher-01 / claude-mcp-claude-opus-4-7 / 20260612T005144Z-1b84

run 20260612T005144Z-1b84

c-reacher-01 · claude-mcp-claude-opus-4-7

Summary

statusfail
score0.00 (0/5)
submissionself-run
modelclaude-mcp-claude-opus-4-7 (anthropic)
started2026-06-12T00:51:44.609Z
ended2026-06-12T00:54:03.007Z
tokens624,971 in · 9,297 out · 634,268 total
wallclock138.4s
tool calls32
task hash3aad876b5a5c728a…
vcad hash88702a434c8a56dd…

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

0
valid_solid
fail
root_count=0
params + details 
params: {
  "type": "valid_solid"
}

details: {
  "reason": "no solids produced",
  "root_count": 0
}
1
body_valid
fail
failed
params + details 
params: {
  "type": "body_valid"
}

details: {
  "error": "from_document: Document has no assembly data (no instances or joints)",
  "reason": "could not build physics world"
}
2
fk_reaches
fail
failed
params + details 
params: {
  "type": "fk_reaches",
  "target": [
    0.2,
    0,
    0.1
  ],
  "tolerance_m": 0.005
}

details: {
  "error": "from_document: Document has no assembly data (no instances or joints)",
  "reason": "could not build physics world"
}
3
torque_budget
fail
failed
params + details 
params: {
  "type": "torque_budget",
  "payload_kg": 0,
  "safety_factor": 1.5
}

details: {
  "error": "from_document: Document has no assembly data (no instances or joints)",
  "reason": "could not build physics world"
}
4
task_success
fail
failed
params + details 
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: {
  "error": "from_document: Document has no assembly data (no instances or joints)",
  "reason": "could not build physics world"
}

Tool calls

0
open_document
ok
2ms
args
{}
1
create_cad_loon
err
8ms
args
{
  "source": "[let\n  [let\n    base [part \"base\" [cylinder 30 50] \"steel\"]\n    upper [part \"upper_arm\" [translate 0 -15 0 [cube 150 30 30]] \"aluminum\"]\n    forearm [part \"forearm\" [translate 0 -15 0 [cube 150 30 30]] \"aluminum\"]\n    tip [part \"tip\" [translate -15 -15 -15 [cube 30 30 30]] \"abs-red\"]\n    [assembly\n      #[base upper forearm tip]\n      #[\n        [instance \"base_1\" \"base\" 0 0 0]\n        [instance \"upper_1\" \"upper_arm\" 0 0 60]\n        [instance \"forearm_1\" \"forearm\" 150 0 60]\n        [instance \"tip_1\" \"tip\" 300 0 60]\n      ]\n      #[\n        [fixed-joint \"base_to_world\" \"base_1\" \"world\" 0 0 0 0 0 0]\n        [revolute-joint \"shoulder\" \"base_1\" \"upper_1\" 0 0 50 0 1 0 -3.14 3.14]\n        [revolute-joint \"elbow\" \"upper_1\" \"forearm_1\" 150 0 0 0 1 0 -3.14 3.14]\n        [fixed-joint \"wrist\" \"forearm_1\" \"tip_1\" 150 0 0 0 0 0]\n      ]\n      \"base_1\"\n    ]\n  ]\n]",
  "format": "json"
}
2
read
ok
2ms
args
{
  "document_id": "doc_1781225504792_1"
}
3
create_cad_loon
err
6ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"upper_arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n    [part \"forearm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n    [part \"tip\" [translate -15 -15 -15 [cube 30 30 30]] \"abs-red\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"upper_1\" \"upper_arm\" 0 0 50]\n    [instance \"forearm_1\" \"forearm\" 150 0 50]\n    [instance \"tip_1\" \"tip\" 300 0 50]\n  ]\n  #[\n    [fixed-joint \"world_to_base\" \"world\" \"base_1\" 0 0 0 0 0 0]\n    [revolute-joint \"shoulder\" \"base_1\" \"upper_1\" 0 0 50 0 1 0 -3.14 3.14]\n    [revolute-joint \"elbow\" \"upper_1\" \"forearm_1\" 150 0 0 0 1 0 -3.14 3.14]\n    [fixed-joint \"wrist\" \"forearm_1\" \"tip_1\" 150 0 0 0 0 0]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
4
create_cad_loon
err
1ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"shoulder\" \"base_1\" \"arm_1\" 0 0 50 0 1 0]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
5
create_cad_loon
err
1ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"shoulder\" \"base_1\" \"arm_1\" 0 0 50]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
6
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"shoulder\" \"base_1\" \"arm_1\"]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
7
get_changelog
ok
1ms
args
{
  "feature": "assembly",
  "limit": 5
}
8
create_cad_loon
ok
3ms
args
{
  "source": "[assembly\n  #[[part \"base\" [cylinder 30 50] \"steel\"]]\n  #[[instance \"base_1\" \"base\" 0 0 0]]\n  #[]\n  \"base_1\"\n]",
  "format": "json"
}
9
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"shoulder\" \"base_1\" \"arm_1\" 0 0 50 0 1 0 -3.14 3.14 0]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
10
create_cad_loon
err
3ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"shoulder\" \"base_1\" \"arm_1\" 0 0 50 0 1 0 0]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
11
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"shoulder\" \"base_1\" \"arm_1\" 0 0 50 0 1 0]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
12
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"shoulder\" \"base_1\" \"arm_1\" 0 0 50 0 0 0 0 1 0]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
13
create_cad_loon
err
4ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"shoulder\" \"base_1\" \"arm_1\" 0 0 50 0 0 -50 0 1 0]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
14
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"base_1\" \"arm_1\" 0 0 50 0 1 0]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
15
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"base_1\" \"arm_1\" 0 0 50 0 0 50 0 1 0 0 1 0]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
16
create_cad_loon
err
3ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [revolute-joint 0 1 0 0 0 50]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
17
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [revolute-joint 0 0 50 0 1 0 0 0 0 0 1 0]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
18
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [fixed-joint \"base_1\" \"arm_1\"]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
19
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [fixed-joint \"fix1\" \"base_1\" \"arm_1\"]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
20
create_cad_loon
err
1ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [fixed-joint \"fix1\" \"base_1\" \"arm_1\" 0 0 50]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
21
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [fixed-joint \"fix1\" \"base_1\" \"arm_1\" 0 0 50 0 0 -50]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
22
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [fixed-joint 0 1 0 0 50 0 0 -50]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
23
create_cad_loon
err
1ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [fixed-joint 0 0 50 0 0 -50]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
24
create_cad_loon
err
3ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [fixed-joint 0 0 50]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
25
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [fixed-joint \"fix1\" \"base_1\" \"arm_1\" 0 0 50 0 0 0 0 0 -50 0 0 0]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
26
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [fixed-joint \"fix1\" \"base_1\" \"arm_1\" 0]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
27
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [fixed-joint \"fix1\" \"base_1\" \"arm_1\" 0 0]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
28
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [fixed-joint \"fix1\" \"base_1\" \"arm_1\" 0 0 50 0]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
29
create_cad_loon
err
1ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [fixed-joint \"fix1\" \"base_1\" \"arm_1\" 0 0 50 0 0 -50 0]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
30
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"arm\" [translate 0 -15 -15 [cube 150 30 30]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_1\" \"base\" 0 0 0]\n    [instance \"arm_1\" \"arm\" 0 0 50]\n  ]\n  #[\n    [fixed-joint \"fix1\" \"base_1\" \"arm_1\" 0 0 50 0 0 -50 0 0]\n  ]\n  \"base_1\"\n]",
  "format": "json"
}
31
get_document
ok
1ms
args
{
  "document_id": "doc_1781225504792_1"
}

What the model built

no render available — vcad-render did not produce geometry for this attempt

.vcad source

{
  "version": "0.1",
  "nodes": {},
  "materials": {},
  "part_materials": {},
  "roots": []
}
mecheval · an evaluation suite by Municipal Robotics
sibling project: vcad. · github

generated 2026-06-19T01:47:56.302Z · static site, regenerate with npm run build -w @mecheval/leaderboard