run 20260428T215422Z-a8a3

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-5-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 20260428T215422Z-a8a3.vcad

.vcad source

{
  "version": "0.1",
  "nodes": {
    "1": {
      "id": 1,
      "name": "base",
      "op": {
        "type": "Cylinder",
        "radius": 40,
        "height": 20,
        "segments": 32
      }
    },
    "2": {
      "id": 2,
      "name": "assembly_offset_to_base_top",
      "op": {
        "type": "Translate",
        "child": 3,
        "offset": {
          "x": 0,
          "y": 0,
          "z": 20
        }
      }
    },
    "3": {
      "id": 3,
      "name": "joint1_rev_z torque=5Nm (actuated)",
      "op": {
        "type": "Rotate",
        "child": 4,
        "angles": {
          "x": 0,
          "y": 0,
          "z": 0
        }
      }
    },
    "4": {
      "id": 4,
      "name": "link1_and_joint2_subassembly",
      "op": {
        "type": "Union",
        "left": 5,
        "right": 6
      }
    },
    "5": {
      "id": 5,
      "name": "link1 (shoulder link)",
      "op": {
        "type": "Translate",
        "child": 7,
        "offset": {
          "x": 0,
          "y": -5,
          "z": -5
        }
      }
    },
    "7": {
      "id": 7,
      "name": "link1_geom",
      "op": {
        "type": "Cube",
        "size": {
          "x": 140,
          "y": 10,
          "z": 10
        }
      }
    },
    "6": {
      "id": 6,
      "name": "joint2_position_at_link1_end",
      "op": {
        "type": "Translate",
        "child": 8,
        "offset": {
          "x": 140,
          "y": 0,
          "z": 0
        }
      }
    },
    "8": {
      "id": 8,
      "name": "joint2_rev_y torque=5Nm (actuated)",
      "op": {
        "type": "Rotate",
        "child": 9,
        "angles": {
          "x": 0,
          "y": 35.695,
          "z": 0
        }
      }
    },
    "9": {
      "id": 9,
      "name": "link2_and_tip_subassembly",
      "op": {
        "type": "Union",
        "left": 10,
        "right": 11
      }
    },
    "10": {
      "id": 10,
      "name": "link2 (forearm)",
      "op": {
        "type": "Translate",
        "child": 12,
        "offset": {
          "x": 0,
          "y": -3,
          "z": -3
        }
      }
    },
    "12": {
      "id": 12,
      "name": "link2_geom",
      "op": {
        "type": "Cube",
        "size": {
          "x": 120,
          "y": 6,
          "z": 6
        }
      }
    },
    "11": {
      "id": 11,
      "name": "end_effector_tip_position",
      "op": {
        "type": "Translate",
        "child": 13,
        "offset": {
          "x": 120,
          "y": 0,
          "z": 0
        }
      }
    },
    "13": {
      "id": 13,
      "name": "tip",
      "op": {
        "type": "Sphere",
        "radius": 4,
        "segments": 32
      }
    },
    "100": {
      "id": 100,
      "name": "root_union_base_and_arm",
      "op": {
        "type": "Union",
        "left": 1,
        "right": 2
      }
    }
  },
  "materials": {},
  "part_materials": {},
  "roots": [
    {
      "root": 100,
      "material": "default"
    }
  ]
}

generated 2026-06-19T01:47:56.308Z · static site, regenerate with npm run build -w @mecheval/leaderboard