run 20260428T213822Z-b58a

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": 50,
          "y": 50,
          "z": 10
        }
      }
    },
    "arm1": {
      "id": "arm1",
      "name": "First Arm Link",
      "op": {
        "type": "Cube",
        "size": {
          "x": 60,
          "y": 10,
          "z": 10
        }
      }
    },
    "arm2": {
      "id": "arm2",
      "name": "Second Arm Link",
      "op": {
        "type": "Cube",
        "size": {
          "x": 50,
          "y": 10,
          "z": 10
        }
      }
    },
    "tip": {
      "id": "tip",
      "name": "End Effector",
      "op": {
        "type": "Sphere",
        "radius": 5,
        "segments": 32
      }
    },
    "joint1": {
      "id": "joint1",
      "name": "Revolute Joint 1",
      "op": {
        "type": "Rotate",
        "child": "arm1",
        "angles": {
          "x": 0,
          "y": 0,
          "z": 0
        }
      }
    },
    "joint2": {
      "id": "joint2",
      "name": "Revolute Joint 2",
      "op": {
        "type": "Rotate",
        "child": "arm2",
        "angles": {
          "x": 0,
          "y": 0,
          "z": 0
        }
      }
    },
    "translate_base_to_arm1": {
      "id": "translate_base_to_arm1",
      "name": "Translate Base to Arm 1",
      "op": {
        "type": "Translate",
        "child": "arm1",
        "offset": {
          "x": 0,
          "y": 0,
          "z": 10
        }
      }
    },
    "translate_arm1_to_joint2": {
      "id": "translate_arm1_to_joint2",
      "name": "Translate Arm 1 to Joint 2",
      "op": {
        "type": "Translate",
        "child": "arm2",
        "offset": {
          "x": 60,
          "y": 0,
          "z": 0
        }
      }
    },
    "translate_arm2_to_tip": {
      "id": "translate_arm2_to_tip",
      "name": "Translate Arm 2 to Tip",
      "op": {
        "type": "Translate",
        "child": "tip",
        "offset": {
          "x": 50,
          "y": 0,
          "z": 0
        }
      }
    },
    "composed_arm": {
      "id": "composed_arm",
      "name": "Composed Arm",
      "op": {
        "type": "Union",
        "left": "translate_base_to_arm1",
        "right": {
          "type": "Union",
          "left": "translate_arm1_to_joint2",
          "right": "translate_arm2_to_tip"
        }
      }
    }
  },
  "materials": {},
  "part_materials": {},
  "roots": [
    {
      "root": "composed_arm",
      "material": "default"
    }
  ]
}

generated 2026-06-19T01:47:56.306Z · static site, regenerate with npm run build -w @mecheval/leaderboard