Two-DOF reacher C · C-reacher · c-reacher-01

Expected

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

{
  "type": "valid_solid"
}

{
  "type": "body_valid"
}

{
  "type": "fk_reaches",
  "target": [
    0.2,
    0,
    0.1
  ],
  "tolerance_m": 0.005
}

{
  "type": "torque_budget",
  "payload_kg": 0,
  "safety_factor": 1.5
}

{
  "type": "task_success",
  "task": "reach_target",
  "params": {
    "target": [
      0.2,
      0,
      0.1
    ],
    "tolerance_m": 0.005,
    "max_steps": 1000,
    "controller": "stock_pd"
  }
}

Anti-cheese

{
  "min_rigid_bodies": 3,
  "min_actuated_joints": 2,
  "max_total_mass_kg": 2,
  "joint_torque_ceiling_nm": 5,
  "required_links": [
    "base",
    "tip"
  ]
}

Limits

{
  "max_tokens": 200000,
  "max_wallclock_sec": 600,
  "max_tool_calls": 200
}

Recent attempts

Runs (22)

generated 2026-06-17T03:16:07.281Z · static site, regenerate with npm run build -w @mecheval/leaderboard