run 20260428T213839Z-c742

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: {
  "root_count": 1,
  "solids_produced": 1
}

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

isometric render via vcad-render · the model's actual .vcad output, faceted at 28 segments per cylinder · download 20260428T213839Z-c742.vcad

.vcad source

{
  "version": "0.1",
  "nodes": {
    "1": {
      "id": 1,
      "name": "Base",
      "op": {
        "type": "Cube",
        "size": {
          "x": 0.1,
          "y": 0.1,
          "z": 0.05
        }
      }
    },
    "2": {
      "id": 2,
      "name": "Link1",
      "op": {
        "type": "Cylinder",
        "radius": 0.02,
        "height": 0.4,
        "segments": 32
      }
    },
    "3": {
      "id": 3,
      "name": "Link2",
      "op": {
        "type": "Cylinder",
        "radius": 0.02,
        "height": 0.3,
        "segments": 32
      }
    },
    "4": {
      "id": 4,
      "name": "Tip",
      "op": {
        "type": "Sphere",
        "radius": 0.02,
        "segments": 32
      }
    },
    "5": {
      "id": 5,
      "name": "Joint1",
      "op": {
        "type": "Rotate",
        "child": 2,
        "angles": {
          "x": 0,
          "y": 0,
          "z": 0
        }
      }
    },
    "6": {
      "id": 6,
      "name": "Joint2",
      "op": {
        "type": "Rotate",
        "child": 3,
        "angles": {
          "x": 0,
          "y": 0,
          "z": 0
        }
      }
    },
    "7": {
      "id": 7,
      "name": "Translate1",
      "op": {
        "type": "Translate",
        "child": 2,
        "offset": {
          "x": 0,
          "y": 0,
          "z": 0.05
        }
      }
    },
    "8": {
      "id": 8,
      "name": "Translate2",
      "op": {
        "type": "Translate",
        "child": 7,
        "offset": {
          "x": 0,
          "y": 0,
          "z": 0.4
        }
      }
    },
    "9": {
      "id": 9,
      "name": "Translate3",
      "op": {
        "type": "Translate",
        "child": 3,
        "offset": {
          "x": 0,
          "y": 0,
          "z": 0.3
        }
      }
    },
    "10": {
      "id": 10,
      "name": "FinalTranslate",
      "op": {
        "type": "Translate",
        "child": 9,
        "offset": {
          "x": 0,
          "y": 0,
          "z": 0.3
        }
      }
    }
  },
  "materials": {},
  "part_materials": {
    "1": "default",
    "2": "default",
    "3": "default",
    "4": "default"
  },
  "roots": [
    {
      "root": 1,
      "material": "default"
    }
  ]
}

generated 2026-06-19T01:47:56.307Z · static site, regenerate with npm run build -w @mecheval/leaderboard