← mecheval / run / c-reacher-01 / claude-mcp-claude-opus-4-7 / 20260612T005538Z-165a

run 20260612T005538Z-165a

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

Summary

statusfail
score0.20 (1/5)
submissionself-run
modelclaude-mcp-claude-opus-4-7 (anthropic)
started2026-06-12T00:55:38.068Z
ended2026-06-12T01:00:26.904Z
tokens669,376 in · 12,262 out · 681,638 total
wallclock288.8s
tool calls41
task hash3aad876b5a5c728a…
vcad hash74bbce3bfd38948b…

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
pass
params + details 
params: {
  "type": "valid_solid"
}

details: {
  "root_count": 3,
  "solids_produced": 3
}
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
1ms
args
{}
1
create_cad_loon
ok
8ms
args
{
  "source": "[let\n  base [translate 0 0 0 [cylinder 30 50]]\n  link1 [union\n          [translate -10 -15 0 [cube 20 30 150]]\n          [translate 0 0 0 [sphere 15]]]\n  link2 [union\n          [translate -8 -12 0 [cube 16 24 150]]\n          [translate 0 0 0 [sphere 12]]\n          [translate 0 0 150 [sphere 14]]]\n  [assembly\n    #[[part \"base\"  base  \"steel\"]\n      [part \"link1\" link1 \"aluminum\"]\n      [part \"tip\"   link2 \"aluminum\"]]\n    #[[instance \"base_i\"  \"base\"  0 0 0]\n      [instance \"link1_i\" \"link1\" 0 0 50]\n      [instance \"tip_i\"   \"tip\"   0 0 200]]\n    #[[revolute-joint \"j1\" \"base_i\"  \"link1_i\" 0 0 50  0 1 0  -3.14 3.14  5.0  0.5]\n      [revolute-joint \"j2\" \"link1_i\" \"tip_i\"   0 0 200 0 1 0  -3.14 3.14  5.0  0.5]]\n    \"base_i\"]]\n",
  "format": "json"
}
2
read
ok
1ms
args
{
  "document_id": "doc_1781225738250_1"
}
3
create
err
4ms
args
{
  "document_id": "doc_1781225738250_1",
  "type": "cylinder",
  "params": {
    "radius": 30,
    "height": 50
  },
  "name": "base"
}
4
create
err
1ms
args
{
  "document_id": "doc_1781225738250_1",
  "type": "cube",
  "params": {
    "size_x": 20,
    "size_y": 30,
    "size_z": 150
  },
  "name": "link1"
}
5
create
err
1ms
args
{
  "document_id": "doc_1781225738250_1",
  "type": "cube",
  "params": {
    "size_x": 16,
    "size_y": 24,
    "size_z": 150
  },
  "name": "tip"
}
6
create
ok
2ms
args
{
  "document_id": "doc_1781225738250_1",
  "type": "cylinder",
  "params": {
    "radius": 30,
    "height": 50,
    "segments": 32
  },
  "name": "base"
}
7
create
ok
2ms
args
{
  "document_id": "doc_1781225738250_1",
  "type": "cube",
  "params": {
    "size": [
      20,
      30,
      150
    ]
  },
  "name": "link1"
}
8
create
ok
1ms
args
{
  "document_id": "doc_1781225738250_1",
  "type": "cube",
  "params": {
    "size": [
      16,
      24,
      150
    ]
  },
  "name": "tip"
}
9
set_material
ok
1ms
args
{
  "document_id": "doc_1781225738250_1",
  "part_id": "1",
  "material": "steel"
}
10
set_material
ok
1ms
args
{
  "document_id": "doc_1781225738250_1",
  "part_id": "2",
  "material": "aluminum"
}
11
set_material
ok
0ms
args
{
  "document_id": "doc_1781225738250_1",
  "part_id": "3",
  "material": "aluminum"
}
12
get_document
ok
0ms
args
{
  "document_id": "doc_1781225738250_1"
}
13
create_cad_loon
err
3ms
args
{
  "source": "[assembly\n  #[[part \"base\"  [cylinder 30 50] \"steel\"]\n    [part \"link1\" [cube 20 30 150] \"aluminum\"]\n    [part \"tip\"   [cube 16 24 150] \"aluminum\"]]\n  #[[instance \"base_i\"  \"base\"  0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n    [instance \"tip_i\"   \"tip\"   0 0 200]]\n  #[[revolute-joint \"j1\" \"base_i\"  \"link1_i\" 0 0 50  0 1 0  -3.14 3.14  5.0  0.5]\n    [revolute-joint \"j2\" \"link1_i\" \"tip_i\"   0 0 200 0 1 0  -3.14 3.14  5.0  0.5]]\n  \"base_i\"]\n",
  "format": "json"
}
14
get_changelog
ok
1ms
args
{
  "feature": "assembly",
  "limit": 5
}
15
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[[part \"base\"  [cylinder 30 50] \"steel\"]\n    [part \"link1\" [cube 20 30 150] \"aluminum\"]\n    [part \"tip\"   [cube 16 24 150] \"aluminum\"]]\n  #[[instance \"base_i\"  \"base\"  0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n    [instance \"tip_i\"   \"tip\"   0 0 200]]\n  #[[revolute-joint \"j1\" \"base_i\"  \"link1_i\" 0 0 50  0 1 0]\n    [revolute-joint \"j2\" \"link1_i\" \"tip_i\"   0 0 200 0 1 0]]\n  \"base_i\"]\n",
  "format": "json"
}
16
create_cad_loon
err
1ms
args
{
  "source": "[assembly\n  #[[part \"base\"  [cylinder 30 50] \"steel\"]\n    [part \"link1\" [cube 20 30 150] \"aluminum\"]\n    [part \"tip\"   [cube 16 24 150] \"aluminum\"]]\n  #[[instance \"base_i\"  \"base\"  0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n    [instance \"tip_i\"   \"tip\"   0 0 200]]\n  #[[revolute-joint \"j1\" \"base_i\"  \"link1_i\" 0 1 0]\n    [revolute-joint \"j2\" \"link1_i\" \"tip_i\"   0 1 0]]\n  \"base_i\"]\n",
  "format": "json"
}
17
create_cad_loon
err
1ms
args
{
  "source": "[assembly\n  #[[part \"base\"  [cylinder 30 50] \"steel\"]\n    [part \"link1\" [cube 20 30 150] \"aluminum\"]\n    [part \"tip\"   [cube 16 24 150] \"aluminum\"]]\n  #[[instance \"base_i\"  \"base\"  0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]\n    [instance \"tip_i\"   \"tip\"   0 0 200]]\n  #[[revolute-joint \"j1\" \"base_i\" \"link1_i\" \"y\"]\n    [revolute-joint \"j2\" \"link1_i\" \"tip_i\" \"y\"]]\n  \"base_i\"]\n",
  "format": "json"
}
18
create_cad_loon
ok
3ms
args
{
  "source": "[assembly\n  #[[part \"base\"  [cylinder 30 50] \"steel\"]\n    [part \"link1\" [cube 20 30 150] \"aluminum\"]]\n  #[[instance \"base_i\"  \"base\"  0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]]\n  #[]\n  \"base_i\"]\n",
  "format": "json"
}
19
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[[part \"base\"  [cylinder 30 50] \"steel\"]\n    [part \"link1\" [cube 20 30 150] \"aluminum\"]]\n  #[[instance \"base_i\"  \"base\"  0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]]\n  #[[revolute-joint \"j1\" \"base_i\" \"link1_i\" 0 0 50 0 1 0]]\n  \"base_i\"]\n",
  "format": "json"
}
20
create_cad_loon
err
1ms
args
{
  "source": "[assembly\n  #[[part \"base\"  [cylinder 30 50] \"steel\"]\n    [part \"link1\" [cube 20 30 150] \"aluminum\"]]\n  #[[instance \"base_i\"  \"base\"  0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]]\n  #[[revolute \"j1\" \"base_i\" \"link1_i\" 0 0 50 0 1 0]]\n  \"base_i\"]\n",
  "format": "json"
}
21
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[[part \"base\"  [cylinder 30 50] \"steel\"]\n    [part \"link1\" [cube 20 30 150] \"aluminum\"]]\n  #[[instance \"base_i\"  \"base\"  0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]]\n  #[[revolute-joint \"j1\" \"base_i\" \"link1_i\"]]\n  \"base_i\"]\n",
  "format": "json"
}
22
create_cad_loon
err
1ms
args
{
  "source": "[assembly\n  #[[part \"base\"  [cylinder 30 50] \"steel\"]\n    [part \"link1\" [cube 20 30 150] \"aluminum\"]]\n  #[[instance \"base_i\"  \"base\"  0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]]\n  #[[revolute-joint \"base_i\" \"link1_i\" 0 0 50 0 1 0]]\n  \"base_i\"]\n",
  "format": "json"
}
23
create_cad_loon
err
1ms
args
{
  "source": "[assembly\n  #[[part \"base\"  [cylinder 30 50] \"steel\"]\n    [part \"link1\" [cube 20 30 150] \"aluminum\"]]\n  #[[instance \"base_i\"  \"base\"  0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]]\n  #[[revolute-joint \"base_i\" \"link1_i\" 0 0 50 0 1 0 0]]\n  \"base_i\"]\n",
  "format": "json"
}
24
create_cad_loon
err
1ms
args
{
  "source": "[assembly\n  #[[part \"base\"  [cylinder 30 50] \"steel\"]\n    [part \"link1\" [cube 20 30 150] \"aluminum\"]]\n  #[[instance \"base_i\"  \"base\"  0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]]\n  #[[revolute-joint \"j1\" \"base_i\" \"link1_i\" #[0 0 50] #[0 1 0]]]\n  \"base_i\"]\n",
  "format": "json"
}
25
create_cad_loon
err
3ms
args
{
  "source": "[assembly\n  #[[part \"base\"  [cylinder 30 50] \"steel\"]\n    [part \"link1\" [cube 20 30 150] \"aluminum\"]]\n  #[[instance \"base_i\"  \"base\"  0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]]\n  #[[revolute-joint \"base_i\" \"link1_i\" #[0 0 50] #[0 1 0]]]\n  \"base_i\"]\n",
  "format": "json"
}
26
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[[part \"base\"  [cylinder 30 50] \"steel\"]\n    [part \"link1\" [cube 20 30 150] \"aluminum\"]]\n  #[[instance \"base_i\"  \"base\"  0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]]\n  #[[revolute-joint \"base_i\" \"link1_i\" #[0 0 50] #[0 1 0] -3.14 3.14]]\n  \"base_i\"]\n",
  "format": "json"
}
27
create_cad_loon
err
1ms
args
{
  "source": "[assembly\n  #[[part \"base\"  [cylinder 30 50] \"steel\"]\n    [part \"link1\" [cube 20 30 150] \"aluminum\"]]\n  #[[instance \"base_i\"  \"base\"  0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]]\n  #[[revolute-joint \"base_i\" \"link1_i\" 0 0 50 0 1 0 -3.14 3.14]]\n  \"base_i\"]\n",
  "format": "json"
}
28
create_cad_loon
err
3ms
args
{
  "source": "[assembly\n  #[[part \"base\"  [cylinder 30 50] \"steel\"]\n    [part \"link1\" [cube 20 30 150] \"aluminum\"]]\n  #[[instance \"base_i\"  \"base\"  0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]]\n  #[[revolute-joint \"base_i\" \"link1_i\" 0 0 50 0 1 0 -3.14 3.14 5.0]]\n  \"base_i\"]\n",
  "format": "json"
}
29
create_cad_loon
err
2ms
args
{
  "source": "[assembly\n  #[[part \"base\"  [cylinder 30 50] \"steel\"]\n    [part \"link1\" [cube 20 30 150] \"aluminum\"]]\n  #[[instance \"base_i\"  \"base\"  0 0 0]\n    [instance \"link1_i\" \"link1\" 0 0 50]]\n  #[[revolute-joint \"j1\" \"base_i\" \"link1_i\" 0 0 50 0 1 0 -3.14 3.14 5.0 0.0]]\n  \"base_i\"]\n",
  "format": "json"
}
30
open_document
ok
1ms
args
{
  "initial": {
    "version": "0.1",
    "nodes": {
      "0": {
        "id": 0,
        "name": "base",
        "op": {
          "type": "Cylinder",
          "radius": 30,
          "height": 50,
          "segments": 32
        }
      },
      "1": {
        "id": 1,
        "name": "link1",
        "op": {
          "type": "Cube",
          "size": {
            "x": 20,
            "y": 30,
            "z": 150
          }
        }
      },
      "2": {
        "id": 2,
        "name": "tip",
        "op": {
          "type": "Cube",
          "size": {
            "x": 16,
            "y": 24,
            "z": 150
          }
        }
      }
    },
    "materials": {
      "default": {
        "name": "default",
        "color": [
          0.8,
          0.8,
          0.8
        ],
        "metallic": 0,
        "roughness": 0.5,
        "density": null,
        "friction": null
      }
    },
    "part_materials": {},
    "roots": [],
    "partDefs": {
      "base": {
        "id": "base",
        "name": "base",
        "root": 0,
        "defaultMaterial": "steel"
      },
      "link1": {
        "id": "link1",
        "name": "link1",
        "root": 1,
        "defaultMaterial": "aluminum"
      },
      "tip": {
        "id": "tip",
        "name": "tip",
        "root": 2,
        "defaultMaterial": "aluminum"
      }
    },
    "instances": [
      {
        "id": "base_i",
        "partDefId": "base",
        "name": "base_i"
      },
      {
        "id": "link1_i",
        "partDefId": "link1",
        "name": "link1_i",
        "transform": {
          "translation": {
            "x": 0,
            "y": 0,
            "z": 50
          },
          "rotation": {
            "x": 0,
            "y": 0,
            "z": 0
          },
          "scale": {
            "x": 1,
            "y": 1,
            "z": 1
          }
        }
      },
      {
        "id": "tip_i",
        "partDefId": "tip",
        "name": "tip_i",
        "transform": {
          "translation": {
            "x": 0,
            "y": 0,
            "z": 200
          },
          "rotation": {
            "x": 0,
            "y": 0,
            "z": 0
          },
          "scale": {
            "x": 1,
            "y": 1,
            "z": 1
          }
        }
      }
    ],
    "joints": [
      {
        "id": "j1",
        "type": "Revolute",
        "parentInstanceId": "base_i",
        "childInstanceId": "link1_i",
        "anchor": {
          "x": 0,
          "y": 0,
          "z": 50
        },
        "axis": {
          "x": 0,
          "y": 1,
          "z": 0
        },
        "limits": {
          "min": -3.14,
          "max": 3.14
        },
        "maxTorque": 5,
        "initialAngle": 0.5
      },
      {
        "id": "j2",
        "type": "Revolute",
        "parentInstanceId": "link1_i",
        "childInstanceId": "tip_i",
        "anchor": {
          "x": 0,
          "y": 0,
          "z": 200
        },
        "axis": {
          "x": 0,
          "y": 1,
          "z": 0
        },
        "limits": {
          "min": -3.14,
          "max": 3.14
        },
        "maxTorque": 5,
        "initialAngle": 0.5
      }
    ],
    "groundInstanceId": "base_i"
  }
}
31
get_document
ok
1ms
args
{
  "document_id": "doc_1781225890080_4"
}
32
update
err
2ms
args
{
  "document_id": "doc_1781225738250_1",
  "node_id": "joints",
  "params": {
    "joints": [
      {
        "id": "j1",
        "type": "Revolute",
        "parentInstanceId": "base_i",
        "childInstanceId": "link1_i",
        "anchor": {
          "x": 0,
          "y": 0,
          "z": 50
        },
        "axis": {
          "x": 0,
          "y": 1,
          "z": 0
        },
        "limits": {
          "min": -3.14,
          "max": 3.14
        },
        "maxTorque": 5,
        "initialAngle": 0.5
      }
    ]
  }
}
33
delete
ok
4ms
args
{
  "document_id": "doc_1781225738250_1",
  "part_id": "1"
}
34
delete
ok
1ms
args
{
  "document_id": "doc_1781225738250_1",
  "part_id": "2"
}
35
delete
ok
1ms
args
{
  "document_id": "doc_1781225738250_1",
  "part_id": "3"
}
36
create
ok
1ms
args
{
  "document_id": "doc_1781225738250_1",
  "type": "cylinder",
  "params": {
    "radius": 30,
    "height": 50,
    "segments": 32
  },
  "name": "base"
}
37
create
ok
1ms
args
{
  "document_id": "doc_1781225738250_1",
  "type": "cube",
  "params": {
    "size": [
      20,
      30,
      150
    ]
  },
  "name": "link1_geom"
}
38
create
err
4ms
args
{
  "document_id": "doc_1781225738250_1",
  "type": "translate",
  "params": {
    "offset": {
      "x": -10,
      "y": -15,
      "z": 0
    }
  },
  "name": "center_link1",
  "parent_part_id": "2"
}
39
create
ok
2ms
args
{
  "document_id": "doc_1781225738250_1",
  "type": "translate",
  "params": {
    "offset": {
      "x": -10,
      "y": -15,
      "z": 0
    },
    "child": 2
  },
  "name": "center_link1"
}
40
get_document
ok
1ms
args
{
  "document_id": "doc_1781225738250_1"
}

What the model built

isometric render via vcad-render · the model's actual .vcad output, faceted at 28 segments per cylinder · download 20260612T005538Z-165a.vcad

.vcad source

{
  "version": "0.1",
  "nodes": {
    "1": {
      "id": 1,
      "name": "base",
      "op": {
        "type": "Cylinder",
        "radius": 30,
        "height": 50,
        "segments": 32
      }
    },
    "2": {
      "id": 2,
      "name": "link1_geom",
      "op": {
        "type": "Cube",
        "size": {
          "x": 20,
          "y": 30,
          "z": 150
        }
      }
    },
    "3": {
      "id": 3,
      "name": "center_link1",
      "op": {
        "type": "Translate",
        "child": 2,
        "offset": {
          "x": -10,
          "y": -15,
          "z": 0
        }
      }
    }
  },
  "materials": {},
  "part_materials": {},
  "roots": [
    {
      "root": 1,
      "material": "default"
    },
    {
      "root": 2,
      "material": "default"
    },
    {
      "root": 3,
      "material": "default"
    }
  ]
}
mecheval · an evaluation suite by Municipal Robotics
sibling project: vcad. · github

generated 2026-06-19T01:47:56.304Z · static site, regenerate with npm run build -w @mecheval/leaderboard