run 20260428T213758Z-4442

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": "gpt-4o-mini",
  "max_tokens": 8000,
  "system_chars": 1674,
  "user_chars": 694
}

What the model built

.vcad source

{
  "version": "0.1",
  "nodes": {
    "base": {
      "id": "base",
      "name": "Base",
      "op": {"type":"Cube", "size":{"x":0.1,"y":0.1,"z":0.05}}
    },
    "link1": {
      "id": "link1",
      "name": "Link 1",
      "op": {"type":"Cylinder", "radius":0.01,"height":0.2,"segments":32}
    },
    "joint1": {
      "id": "joint1",
      "name": "Joint 1",
      "op": {"type":"Rotate", "child":"link1", "angles":{"x":0,"y":0,"z":0}}
    },
    "link2": {
      "id": "link2",
      "name": "Link 2",
      "op": {"type":"Cylinder", "radius":0.01,"height":0.15,"segments":32}
    },
    "joint2": {
      "id": "joint2",
      "name": "Joint 2",
      "op": {"type":"Rotate", "child":"link2", "angles":{"x":0,"y":0,"z":0}}
    },
    "end_effector": {
      "id": "end_effector",
      "name": "End Effector",
      "op": {"type":"Cylinder", "radius":0.01,"height":0.05,"segments":32}
    },
    "translate_link1": {
      "id": "translate_link1",
      "name": "Translate Link 1",
      "op": {"type":"Translate", "child":"joint1", "offset":{"x":0,"y":0,"z":0.025}}
    },
    "translate_link2": {
      "id": "translate_link2",
      "name": "Translate Link 2",
      "op": {"type":"Translate", "child":"joint2", "offset":{"x":0,"y":0,"z":0.2}}
    },
    "translate_end_effector": {
      "id": "translate_end_effector",
      "name": "Translate End Effector",
      "op": {"type":"Translate", "child":"end_effector", "offset":{"x":0,"y":0,"z":0.15}}
    },
    "assembly": {
      "id": "assembly",
      "name": "Manipulator",
      "op": {"type":"Union", "left":"base", "right":"translate_link1"}
    }
  },
  "materials": {},
  "part_materials": {
    "link1": "default",
    "link2": "default",
    "end_effector": "default"
  },
  "roots": [
    {"root": "assembly", "material": "default"}
  ]
}

generated 2026-06-19T01:47:56.305Z · static site, regenerate with npm run build -w @mecheval/leaderboard