← mecheval. / task / c-reacher-01
Two-DOF reacher C · C-reacher · c-reacher-01
mech · reacher · manipulator · two-dof · stock-controller
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
0
valid_solid{
"type": "valid_solid"
}1
body_valid{
"type": "body_valid"
}2
fk_reaches{
"type": "fk_reaches",
"target": [
0.2,
0,
0.1
],
"tolerance_m": 0.005
}3
torque_budget{
"type": "torque_budget",
"payload_kg": 0,
"safety_factor": 1.5
}4
task_success{
"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
}
Runs (0)
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| drawing mecheval. |
sheet TASK · c-reacher-01 |
scale 0 runs |
| date 2026-04-28 |
drawn by muni |
project mecheval |