← mecheval / run / c-reacher-01 / claude-mcp-claude-opus-4-7 / 20260612T005242Z-5878

run 20260612T005242Z-5878

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

Summary

statusfail
score0.00 (0/5)
submissionself-run
modelclaude-mcp-claude-opus-4-7 (anthropic)
started2026-06-12T00:52:42.677Z
ended2026-06-12T00:54:49.238Z
tokens603,318 in · 8,713 out · 612,031 total
wallclock126.6s
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
9ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n    [part \"link2\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n    [part \"tip\" [sphere 15] \"abs-red\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n    [instance \"link2_i\" \"link2\" 0 0 50]\n    [instance \"tip_i\" \"tip\" 0 0 50]\n  ]\n  #[\n    [fixed-joint \"j_base\" \"base_i\" \"world\" 0 0 0 0 0 0]\n    [revolute-joint \"j_shoulder\" \"link1_i\" \"base_i\" 0 0 50 0 1 0 -3.14 3.14 5.0]\n    [revolute-joint \"j_elbow\" \"link2_i\" \"link1_i\" 150 0 0 0 1 0 -3.14 3.14 5.0]\n    [fixed-joint \"j_tip\" \"tip_i\" \"link2_i\" 150 0 0 0 0 0]\n  ]\n  \"base_i\"\n]"
}
2
read
ok
4ms
args
{
  "document_id": "doc_1781225562860_1"
}
3
get_changelog
ok
2ms
args
{
  "feature": "assembly",
  "limit": 5
}
4
create_cad_loon
err
3ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n    [part \"link2\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n    [part \"tip\" [sphere 15] \"abs-red\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n    [instance \"link2_i\" \"link2\" 0 0 50]\n    [instance \"tip_i\" \"tip\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"j_shoulder\" \"base_i\" \"link1_i\" 0 0 50 0 1 0]\n    [revolute-joint \"j_elbow\" \"link1_i\" \"link2_i\" 150 0 0 0 1 0]\n    [fixed-joint \"j_tip\" \"link2_i\" \"tip_i\" 150 0 0]\n  ]\n  \"base_i\"\n]"
}
5
create_cad_loon
err
3ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n    [part \"link2\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n    [part \"tip\" [sphere 15] \"abs-red\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n    [instance \"link2_i\" \"link2\" 0 0 50]\n    [instance \"tip_i\" \"tip\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"j_shoulder\" \"base_i\" \"link1_i\" 0 0 50 0 1 0 0]\n    [revolute-joint \"j_elbow\" \"link1_i\" \"link2_i\" 150 0 0 0 1 0 0]\n    [fixed-joint \"j_tip\" \"link2_i\" \"tip_i\" 150 0 0 0 0 0]\n  ]\n  \"base_i\"\n]"
}
6
create_cad_loon
err
4ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n    [part \"link2\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n    [part \"tip\" [sphere 15] \"abs-red\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n    [instance \"link2_i\" \"link2\" 0 0 50]\n    [instance \"tip_i\" \"tip\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"j_shoulder\" \"base_i\" \"link1_i\" 0 0 50 0 1 0]\n    [revolute-joint \"j_elbow\" \"link1_i\" \"link2_i\" 150 0 0 0 1 0]\n    [fixed-joint \"j_tip\" \"link2_i\" \"tip_i\" 150 0 0]\n  ]\n  \"base_i\"\n]",
  "format": "json"
}
7
create_cad_loon
ok
10ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n  ]\n  #[]\n  \"base_i\"\n]"
}
8
create_cad_loon
err
3ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"j1\" \"base_i\" \"link1_i\"]\n  ]\n  \"base_i\"\n]"
}
9
create_cad_loon
err
1ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"j1\" \"base_i\" \"link1_i\" 0 0 50 0 1 0 -3.14 3.14 5.0 0]\n  ]\n  \"base_i\"\n]"
}
10
create_cad_loon
err
5ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"j1\" \"base_i\" \"link1_i\" 0 0 50 0 1 0 -3.14 3.14 5.0 0 0]\n  ]\n  \"base_i\"\n]"
}
11
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"j1\" 0 0 50 0 1 0 \"base_i\" \"link1_i\" -3.14 3.14 5.0 0]\n  ]\n  \"base_i\"\n]"
}
12
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"j1\" \"base_i\" \"link1_i\" 0 0 50 0 1 0 0]\n  ]\n  \"base_i\"\n]"
}
13
create_cad_loon
err
3ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"j1\" \"base_i\" \"link1_i\" 0 0 50 0 1 0]\n  ]\n  \"base_i\"\n]"
}
14
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"j1\" \"base_i\" \"link1_i\" 0 0 50 0 1 0 0 0]\n  ]\n  \"base_i\"\n]"
}
15
create_cad_loon
err
1ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"j1\" \"base_i\" \"link1_i\" 0 0 50 0 1 0 0 0 0]\n  ]\n  \"base_i\"\n]"
}
16
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"j1\" \"base_i\" \"link1_i\" 0 0 50 0 1]\n  ]\n  \"base_i\"\n]"
}
17
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"base_i\" \"link1_i\" 0 0 50 0 1 0]\n  ]\n  \"base_i\"\n]"
}
18
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"base_i\" \"link1_i\" 0 0 50 0 1 0 0]\n  ]\n  \"base_i\"\n]"
}
19
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"base_i\" \"link1_i\" 0 0 50 0 1 0 0 0]\n  ]\n  \"base_i\"\n]"
}
20
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"base_i\" \"link1_i\" 0 0 50 0 1 0 0 0 0]\n  ]\n  \"base_i\"\n]"
}
21
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"base_i\" \"link1_i\" 0 0 50 0 1 0 0 0 0 0]\n  ]\n  \"base_i\"\n]"
}
22
create_cad_loon
err
3ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"base_i\" \"link1_i\" 0 0 50 0 1 0 0 0 0 0 0]\n  ]\n  \"base_i\"\n]"
}
23
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"j1\" \"base_i\" \"link1_i\" 0 0 50 0 0 50 0 1 0]\n  ]\n  \"base_i\"\n]"
}
24
create_cad_loon
err
3ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"j1\" \"base_i\" \"link1_i\" 0 0 50 0 0 50 0 1 0 0]\n  ]\n  \"base_i\"\n]"
}
25
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"j1\" \"base_i\" \"link1_i\" 0 0 50 0 0 50 0 1 0 0 0]\n  ]\n  \"base_i\"\n]"
}
26
create_cad_loon
err
1ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"j1\" \"base_i\" \"link1_i\" 0 0 50 0 0 50 0 1 0 0 0 0]\n  ]\n  \"base_i\"\n]"
}
27
create_cad_loon
err
3ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"j1\" \"base_i\" \"link1_i\" 0 0 50 0 0 50 0 1 0 0 1 0]\n  ]\n  \"base_i\"\n]"
}
28
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"base_i\" \"link1_i\" 0 0 50 0 0 50 0 1 0 0 1 0]\n  ]\n  \"base_i\"\n]"
}
29
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"j1\" \"base_i\" \"link1_i\" 0 0 50 0 1 0 0]\n  ]\n  \"base_i\"\n]"
}
30
create_cad_loon
err
1ms
args
{
  "source": "[assembly\n  #[\n    [part \"base\" [cylinder 30 50] \"steel\"]\n    [part \"link1\" [translate 0 -10 -10 [cube 150 20 20]] \"aluminum\"]\n  ]\n  #[\n    [instance \"base_i\" \"base\" 0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n  ]\n  #[\n    [revolute-joint \"base_i\" \"link1_i\" \"j1\" 0 0 50 0 1 0]\n  ]\n  \"base_i\"\n]"
}
31
get_document
ok
0ms
args
{
  "document_id": "doc_1781225562860_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 2026-06-19T01:47:56.303Z · static site, regenerate with npm run build -w @mecheval/leaderboard