Datasets:

earakely-scale
/

GenesisWorkbenchEnv-AgentEnv

+---
+license: apache-2.0
+pretty_name: GenesisWorkbenchEnv AgentEnv episodes
+language:
+- en
+tags:
+- agentenv
+- mcp
+- physics-simulation
+- genesis
+- sim-ready-assets
+- llm-agents
+- reinforcement-learning
+task_categories:
+- other
+size_categories:
+- n<1K
+configs:
+- config_name: default
+  data_files: episodes.jsonl
+---
+# GenesisWorkbenchEnv AgentEnv episodes
+Recorded episodes of an LLM agent fixing the physics of sim-ready objects in
+[GenesisWorkbenchEnv](https://github.com/earakely-scale/agentenv-genesis-plugin), an
+[agentenv-framework](https://github.com/scaleapi/agentenv-framework) environment built on the
+[Genesis](https://github.com/Genesis-Embodied-AI/genesis-world) physics simulator. Browse them in the
+[viewer Space](https://huggingface.co/spaces/earakely-scale/GenesisWorkbenchEnv-AgentEnv).
+## What the data is
+Each row is one episode. An episode starts from an object, written as MJCF, that a VLM-to-CAD step produced
+with a physics bug, and a contributor's complaint about how it behaves. The complaint is the task prompt as
+written; nothing tells the agent which parameter is wrong. The agent edits the object through seven MCP tools
+backed by a live Genesis scene:
+| Tool | What it does |
+|---|---|
+| `inspect` | reports a body's inertial, joints, geoms and materials |
+| `render` | simulates a short interaction and returns PNG frames |
+| `set_inertial` | sets or recomputes a body's mass, centre of mass and inertia |
+| `set_material` | assigns a material, which sets density and so mass |
+| `set_joint` | adds a joint or changes its type, axis, range, damping and friction |
+| `run_probe` | the agent's own probe, for checking its fix |
+| `diff` | the MJCF change so far |
+After the agent's last turn, a hidden probe suite runs the edited object in Genesis with settings and
+tolerances the agent never sees, and checks it against reference behaviour. The checks give a score from 0 to
+1 and a pass or fail.
+There are three tasks:
+| Task | Object | Complaint | The bug | Hidden probe |
+|---|---|---|---|---|
+| `mug-tip` | `mug_017` | "The cup doesn't tip over when I lean it." | The inertial frame sits at the base (COM 0.3 cm), so the mug rights itself from almost any lean. Recomputed from the ceramic shell, the COM is about 3.95 cm up and the mug tips on a tilt table near 45.4°. | tilt table: final tilt for each lean angle |
+| `oven-door` | `oven_004` | "Make the oven door heavier so it swings open." | The door is 1.2 kg with 4.0 N·m of hinge friction, so it stays wherever it is put. Heavier and with lower friction, it opens from 5° to its 90° stop. | hinge angle over time after release at 5° |
+| `drawer-slide` | `cabinet_022` | "This drawer should slide." | The drawer has no joint. A slide joint with a range lets a 10 N pull open it. | drawer travel over time under a 10 N pull |
+Rendered frames are under `renders/<episode id>/`, and a call's `image` field gives the path of its frame
+relative to the repository root.
+## Schema
+`episodes.jsonl` holds one JSON object per line:
+```
+{ "id": str, "task": "mug-tip"|"oven-door"|"drawer-slide", "object": str, "complaint": str,
+  "model": str, "harness": str, "score": float 0..1, "passed": bool, "duration_s": float, "sample": bool?,
+  "checks": [{"id": str, "result": bool, "description": str}],
+  "calls": [{"i": int, "tool": str, "args": object, "result": str, "image": str|null}],
+  "before": {"mjcf": str, "metrics": object}, "after": {"mjcf": str, "metrics": object}, "diff": str,
+  "probe": {"kind": "tip"|"hinge"|"travel", "x": [number], "x_label": str, "y_label": str,
+            "before": [number], "after": [number], "reference": [number]|null, "target": str} }
+```
+| Field | Meaning |
+|---|---|
+| `id` | episode id, also the folder of its frames under `renders/` |
+| `task`, `object`, `complaint` | the task, the object's name and the prompt the agent got |
+| `model`, `harness` | the model and the agent harness that ran it |
+| `score`, `passed`, `duration_s` | the probe suite's score, its verdict and the episode's wall time |
+| `sample` | present and true only on illustrative rows written before real runs; recorded episodes omit it |
+| `checks` | each hidden check, its result and what it tests |
+| `calls` | every tool call in order: its arguments, its result text and the path of the frame it returned, if any |
+| `before`, `after` | the MJCF as given and as the agent left it, with metrics the env computed from each |
+| `diff` | a unified diff from `before.mjcf` to `after.mjcf` |
+| `probe` | the hidden probe's curve for the object before and after the edit, and for the reference object, with the target it checks |
+Two fields are stored differently in `episodes.jsonl` than in the schema: `calls[].args` and
+`before.metrics` / `after.metrics` are JSON-encoded strings, because their keys and value types differ from
+task to task and the `datasets` library needs one type per column. Decode them with `json.loads`. The Space's
+`episodes.json` keeps them as objects.
+```python
+import json
+from datasets import load_dataset
+ds = load_dataset("earakely-scale/GenesisWorkbenchEnv-AgentEnv", split="train")
+ep = ds[0]
+print(ep["task"], ep["score"], ep["passed"])
+for call in ep["calls"]:
+    print(call["i"], call["tool"], json.loads(call["args"]))
+```
+## How it was produced
+Every episode is a run of the `genesis-workbench` bundle that the plugin ships, on agentenv-framework. Genesis
+(genesis-world 1.4.5) ran on its CPU backend on an x86 VM. The agent was Claude Code running
+claude-sonnet-5-5, which reached the environment's tools over MCP. agentenv recorded each run; its episode,
+frames and probe curves were written under `results/` in the plugin's repository, and
+`scripts/publish_hub.py` published them here and to the Space, refusing any file that matched its leak guard.
+## How to reproduce
+Install agentenv-framework, add the plugin from GitHub, and run the bundle:
+```bash
+agent-env plugin add 'agentenv-genesis @ git+https://github.com/earakely-scale/agentenv-genesis-plugin'
+agent-env run genesis-workbench
+```
+Claude Code needs a model endpoint that serves Anthropic's Messages API, set in the `[model]` section of
+`.agentenv/config.toml`. No GPU is needed.
+## Limitations
+- This is a prototype. There are three tasks, one object each, and one bug per object.
+- The example objects are built from MJCF primitives (boxes, cylinders and capsules), not from meshes a
+  VLM-to-CAD step produced.
+- The probe tolerances, reference parameters and material densities are example values, chosen to make the
+  three bugs and their fixes distinct, not measured from real objects.
+- Genesis ran on its CPU backend. Results on a GPU backend, or under another simulator, may differ within the
+  tolerances.
+- Each task has a small set of hidden checks. Passing them means the object behaves like the reference in that
+  probe, not that every physical property is right.
+## License
+Apache-2.0, the same as Genesis. The dataset, the plugin and the viewer are released under Apache-2.0.

episodes.jsonl ADDED Viewed

	@@ -0,0 +1,9 @@

+{"id": "mug-tip-opus-5-5-r2", "task": "mug-tip", "object": "mug_017", "complaint": "The cup doesn't tip over when I lean it.", "model": "claude-opus-5-5", "harness": "claude-code", "score": 1.0, "passed": true, "duration_s": 21.2, "checks": [{"id": "tips-like-a-real-mug", "result": true, "description": "tips on a tilt table within 6 deg of a real mug (45.4 deg); measured 43"}, {"id": "ceramic-mass", "result": true, "description": "mass within the ceramic band 0.20-0.40 kg; got 0.284 kg"}, {"id": "rests-upright", "result": true, "description": "rests upright on a flat bench; tilt 0.0 deg, speed 0.0"}], "calls": [{"i": 1, "t": 4.1, "tool": "inspect", "args": "{}", "result": "{\n \"object\": \"mug_017\",\n \"description\": \"Ceramic coffee mug, 8 cm across and 9.5 cm tall, from an egocentric kitchen clip.\",\n \"links\": {\n  \"body\": {\n   \"material\": \"ceramic\",\n   \"mass\": 0.2836,\n   \"com\": [\n    0.0,\n    0.0,\n    0.003\n   ],\n   \"inertia\": [\n    0.0005229,\n    0.0005229,\n    0.0004127\n   ],\n   \"friction\": 0.8,\n   \"volume_cm3\": 118.2\n  }\n },\n \"joints\": {},\n \"editable_joints\": [],\n \"suggested_probe\": \"tip\",\n \"materials\": {\n  \"ceramic\": {\n   \"density_kg_m3\": 2400.0,\n   \"friction\": 0.8\n  },\n  \"sheet_steel\": {\n   \"density_kg_m3\": 7850.0,\n   \"friction\": 0.6\n  },\n  \"glass\": {\n   \"density_kg_m3\": 2500.0,\n   \"friction\": 0.5\n  },\n  \"oak\": {\n   \"density_kg_m3\": 750.0,\n   \"friction\": 0.5\n  },\n  \"abs_plastic\": {\n   \"density_kg_m3\": 1050.0,\n   \"friction\": 0.5\n  }\n }\n}", "image": null}, {"i": 2, "t": 7.3, "tool": "run_probe", "args": "{\"kind\": \"tip\"}", "result": "{\"kind\": \"tip\", \"x\": [20, 26, 32, 36, 40, 43, 46, 49, 52, 56, 62, 70], \"x_label\": \"tilt-table angle (deg)\", \"y_label\": \"final tilt of the mug (deg)\", \"y\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 13.6], \"toppled\": [false, false, false, false, false, false, false, false, false, false, false, false], \"tips_at_deg\": null, \"note\": \"Gravity is rotated per environment to tilt the table, ramped over 0.6 s and held 0.8 s.\"}", "image": "renders/mug-tip-opus-5-5-r2/02-run_probe.png"}, {"i": 3, "t": 10.4, "tool": "set_inertial", "args": "{\"from_material\": \"ceramic\", \"link\": \"body\"}", "result": "{\"link\": \"body\", \"material\": \"ceramic\", \"mass\": 0.2836, \"com\": [0.0, 0.0, 0.0395], \"inertia\": [0.0005229, 0.0005229, 0.0004127]}", "image": null}, {"i": 4, "t": 12.3, "tool": "run_probe", "args": "{\"kind\": \"tip\"}", "result": "{\"kind\": \"tip\", \"x\": [20, 26, 32, 36, 40, 43, 46, 49, 52, 56, 62, 70], \"x_label\": \"tilt-table angle (deg)\", \"y_label\": \"final tilt of the mug (deg)\", \"y\": [0.1, 0.1, 0.2, 0.2, 0.4, 120.3, 73.9, 23.8, 157.5, 21.4, 12.4, 25.3], \"toppled\": [false, false, false, false, false, true, true, false, true, false, false, false], \"tips_at_deg\": 43, \"note\": \"Gravity is rotated per environment to tilt the table, ramped over 0.6 s and held 0.8 s.\"}", "image": "renders/mug-tip-opus-5-5-r2/04-run_probe.png"}, {"i": 5, "t": 12.3, "tool": "diff", "args": "{}", "result": "--- mug_017.as_delivered.xml\n+++ mug_017.current.xml\n@@ -3,7 +3,7 @@\n   <worldbody>\n     <body name=\"body\" pos=\"0 0 0\">\n       <freejoint/>\n-      <inertial pos=\"0 0 0.003\" mass=\"0.2836\" diaginertia=\"0.0005229 0.0005229 0.0004127\"/>\n+      <inertial pos=\"0 0 0.0395\" mass=\"0.2836\" diaginertia=\"0.0005229 0.0005229 0.0004127\"/>\n       <geom name=\"shell\" type=\"cylinder\" size=\"0.04 0.0475\" pos=\"0 0 0.0475\" friction=\"0.8 0.005 0.0001\"/>\n     </body>\n   </worldbody>\n", "image": null}], "before": {"mjcf": "<mujoco model=\"mug_017\">\n  <compiler angle=\"degree\"/>\n  <worldbody>\n    <body name=\"body\" pos=\"0 0 0\">\n      <freejoint/>\n      <inertial pos=\"0 0 0.003\" mass=\"0.2836\" diaginertia=\"0.0005229 0.0005229 0.0004127\"/>\n      <geom name=\"shell\" type=\"cylinder\" size=\"0.04 0.0475\" pos=\"0 0 0.0475\" friction=\"0.8 0.005 0.0001\"/>\n    </body>\n  </worldbody>\n</mujoco>\n", "metrics": "{\"rest.max_speed\": 0.0, \"rest.stable\": true, \"rest.tilt_deg\": 0.0, \"tip.tips_at_deg\": null}"}, "after": {"mjcf": "<mujoco model=\"mug_017\">\n  <compiler angle=\"degree\"/>\n  <worldbody>\n    <body name=\"body\" pos=\"0 0 0\">\n      <freejoint/>\n      <inertial pos=\"0 0 0.0395\" mass=\"0.2836\" diaginertia=\"0.0005229 0.0005229 0.0004127\"/>\n      <geom name=\"shell\" type=\"cylinder\" size=\"0.04 0.0475\" pos=\"0 0 0.0475\" friction=\"0.8 0.005 0.0001\"/>\n    </body>\n  </worldbody>\n</mujoco>\n", "metrics": "{\"rest.max_speed\": 0.0, \"rest.stable\": true, \"rest.tilt_deg\": 0.0, \"tip.tips_at_deg\": 43}"}, "diff": "--- mug_017.as_delivered.xml\n+++ mug_017.current.xml\n@@ -3,7 +3,7 @@\n   <worldbody>\n     <body name=\"body\" pos=\"0 0 0\">\n       <freejoint/>\n-      <inertial pos=\"0 0 0.003\" mass=\"0.2836\" diaginertia=\"0.0005229 0.0005229 0.0004127\"/>\n+      <inertial pos=\"0 0 0.0395\" mass=\"0.2836\" diaginertia=\"0.0005229 0.0005229 0.0004127\"/>\n       <geom name=\"shell\" type=\"cylinder\" size=\"0.04 0.0475\" pos=\"0 0 0.0475\" friction=\"0.8 0.005 0.0001\"/>\n     </body>\n   </worldbody>\n", "probe": {"kind": "tip", "x": [20, 26, 32, 36, 40, 43, 46, 49, 52, 56, 62, 70], "x_label": "tilt-table angle (deg)", "y_label": "final tilt of the mug (deg)", "before": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 13.6], "after": [0.1, 0.1, 0.2, 0.2, 0.4, 120.3, 73.9, 23.8, 157.5, 21.4, 12.4, 25.3], "reference": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0], "target": "topples on a tilt table near a real mug's 45.4°"}}
+{"id": "mug-tip-sonnet-5-5-r1", "task": "mug-tip", "object": "mug_017", "complaint": "The cup doesn't tip over when I lean it.", "model": "claude-sonnet-5-5", "harness": "claude-code", "score": 1.0, "passed": true, "duration_s": 24.5, "checks": [{"id": "tips-like-a-real-mug", "result": true, "description": "tips on a tilt table within 6 deg of a real mug (45.4 deg); measured 43"}, {"id": "ceramic-mass", "result": true, "description": "mass within the ceramic band 0.20-0.40 kg; got 0.284 kg"}, {"id": "rests-upright", "result": true, "description": "rests upright on a flat bench; tilt 0.0 deg, speed 0.0"}], "calls": [{"i": 1, "t": 13.3, "tool": "inspect", "args": "{}", "result": "{\n \"object\": \"mug_017\",\n \"description\": \"Ceramic coffee mug, 8 cm across and 9.5 cm tall, from an egocentric kitchen clip.\",\n \"links\": {\n  \"body\": {\n   \"material\": \"ceramic\",\n   \"mass\": 0.2836,\n   \"com\": [\n    0.0,\n    0.0,\n    0.003\n   ],\n   \"inertia\": [\n    0.0005229,\n    0.0005229,\n    0.0004127\n   ],\n   \"friction\": 0.8,\n   \"volume_cm3\": 118.2\n  }\n },\n \"joints\": {},\n \"editable_joints\": [],\n \"suggested_probe\": \"tip\",\n \"materials\": {\n  \"ceramic\": {\n   \"density_kg_m3\": 2400.0,\n   \"friction\": 0.8\n  },\n  \"sheet_steel\": {\n   \"density_kg_m3\": 7850.0,\n   \"friction\": 0.6\n  },\n  \"glass\": {\n   \"density_kg_m3\": 2500.0,\n   \"friction\": 0.5\n  },\n  \"oak\": {\n   \"density_kg_m3\": 750.0,\n   \"friction\": 0.5\n  },\n  \"abs_plastic\": {\n   \"density_kg_m3\": 1050.0,\n   \"friction\": 0.5\n  }\n }\n}", "image": null}, {"i": 2, "t": 14.5, "tool": "run_probe", "args": "{\"kind\": \"tip\"}", "result": "{\"kind\": \"tip\", \"x\": [20, 26, 32, 36, 40, 43, 46, 49, 52, 56, 62, 70], \"x_label\": \"tilt-table angle (deg)\", \"y_label\": \"final tilt of the mug (deg)\", \"y\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 13.6], \"toppled\": [false, false, false, false, false, false, false, false, false, false, false, false], \"tips_at_deg\": null, \"note\": \"Gravity is rotated per environment to tilt the table, ramped over 0.6 s and held 0.8 s.\"}", "image": "renders/mug-tip-sonnet-5-5-r1/02-run_probe.png"}, {"i": 3, "t": 17.1, "tool": "set_inertial", "args": "{\"from_material\": \"ceramic\", \"link\": \"body\"}", "result": "{\"link\": \"body\", \"material\": \"ceramic\", \"mass\": 0.2836, \"com\": [0.0, 0.0, 0.0395], \"inertia\": [0.0005229, 0.0005229, 0.0004127]}", "image": null}, {"i": 4, "t": 19.1, "tool": "run_probe", "args": "{\"kind\": \"tip\"}", "result": "{\"kind\": \"tip\", \"x\": [20, 26, 32, 36, 40, 43, 46, 49, 52, 56, 62, 70], \"x_label\": \"tilt-table angle (deg)\", \"y_label\": \"final tilt of the mug (deg)\", \"y\": [0.1, 0.1, 0.2, 0.2, 0.4, 120.3, 73.9, 23.8, 157.5, 21.4, 12.4, 25.3], \"toppled\": [false, false, false, false, false, true, true, false, true, false, false, false], \"tips_at_deg\": 43, \"note\": \"Gravity is rotated per environment to tilt the table, ramped over 0.6 s and held 0.8 s.\"}", "image": "renders/mug-tip-sonnet-5-5-r1/04-run_probe.png"}, {"i": 5, "t": 19.4, "tool": "run_probe", "args": "{\"kind\": \"rest\"}", "result": "{\"kind\": \"rest\", \"max_speed\": 0.0, \"tilt_deg\": 0.0, \"stable\": true}", "image": null}], "before": {"mjcf": "<mujoco model=\"mug_017\">\n  <compiler angle=\"degree\"/>\n  <worldbody>\n    <body name=\"body\" pos=\"0 0 0\">\n      <freejoint/>\n      <inertial pos=\"0 0 0.003\" mass=\"0.2836\" diaginertia=\"0.0005229 0.0005229 0.0004127\"/>\n      <geom name=\"shell\" type=\"cylinder\" size=\"0.04 0.0475\" pos=\"0 0 0.0475\" friction=\"0.8 0.005 0.0001\"/>\n    </body>\n  </worldbody>\n</mujoco>\n", "metrics": "{\"rest.max_speed\": 0.0, \"rest.stable\": true, \"rest.tilt_deg\": 0.0, \"tip.tips_at_deg\": null}"}, "after": {"mjcf": "<mujoco model=\"mug_017\">\n  <compiler angle=\"degree\"/>\n  <worldbody>\n    <body name=\"body\" pos=\"0 0 0\">\n      <freejoint/>\n      <inertial pos=\"0 0 0.0395\" mass=\"0.2836\" diaginertia=\"0.0005229 0.0005229 0.0004127\"/>\n      <geom name=\"shell\" type=\"cylinder\" size=\"0.04 0.0475\" pos=\"0 0 0.0475\" friction=\"0.8 0.005 0.0001\"/>\n    </body>\n  </worldbody>\n</mujoco>\n", "metrics": "{\"rest.max_speed\": 0.0, \"rest.stable\": true, \"rest.tilt_deg\": 0.0, \"tip.tips_at_deg\": 43}"}, "diff": "--- mug_017.as_delivered.xml\n+++ mug_017.current.xml\n@@ -3,7 +3,7 @@\n   <worldbody>\n     <body name=\"body\" pos=\"0 0 0\">\n       <freejoint/>\n-      <inertial pos=\"0 0 0.003\" mass=\"0.2836\" diaginertia=\"0.0005229 0.0005229 0.0004127\"/>\n+      <inertial pos=\"0 0 0.0395\" mass=\"0.2836\" diaginertia=\"0.0005229 0.0005229 0.0004127\"/>\n       <geom name=\"shell\" type=\"cylinder\" size=\"0.04 0.0475\" pos=\"0 0 0.0475\" friction=\"0.8 0.005 0.0001\"/>\n     </body>\n   </worldbody>\n", "probe": {"kind": "tip", "x": [20, 26, 32, 36, 40, 43, 46, 49, 52, 56, 62, 70], "x_label": "tilt-table angle (deg)", "y_label": "final tilt of the mug (deg)", "before": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 13.6], "after": [0.1, 0.1, 0.2, 0.2, 0.4, 120.3, 73.9, 23.8, 157.5, 21.4, 12.4, 25.3], "reference": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0], "target": "topples on a tilt table near a real mug's 45.4°"}}
+{"id": "mug-tip-sonnet-5-5-r3", "task": "mug-tip", "object": "mug_017", "complaint": "The cup doesn't tip over when I lean it.", "model": "claude-sonnet-5-5", "harness": "claude-code", "score": 1.0, "passed": true, "duration_s": 20.9, "checks": [{"id": "tips-like-a-real-mug", "result": true, "description": "tips on a tilt table within 6 deg of a real mug (45.4 deg); measured 43"}, {"id": "ceramic-mass", "result": true, "description": "mass within the ceramic band 0.20-0.40 kg; got 0.284 kg"}, {"id": "rests-upright", "result": true, "description": "rests upright on a flat bench; tilt 0.0 deg, speed 0.0"}], "calls": [{"i": 1, "t": 4.0, "tool": "inspect", "args": "{}", "result": "{\n \"object\": \"mug_017\",\n \"description\": \"Ceramic coffee mug, 8 cm across and 9.5 cm tall, from an egocentric kitchen clip.\",\n \"links\": {\n  \"body\": {\n   \"material\": \"ceramic\",\n   \"mass\": 0.2836,\n   \"com\": [\n    0.0,\n    0.0,\n    0.003\n   ],\n   \"inertia\": [\n    0.0005229,\n    0.0005229,\n    0.0004127\n   ],\n   \"friction\": 0.8,\n   \"volume_cm3\": 118.2\n  }\n },\n \"joints\": {},\n \"editable_joints\": [],\n \"suggested_probe\": \"tip\",\n \"materials\": {\n  \"ceramic\": {\n   \"density_kg_m3\": 2400.0,\n   \"friction\": 0.8\n  },\n  \"sheet_steel\": {\n   \"density_kg_m3\": 7850.0,\n   \"friction\": 0.6\n  },\n  \"glass\": {\n   \"density_kg_m3\": 2500.0,\n   \"friction\": 0.5\n  },\n  \"oak\": {\n   \"density_kg_m3\": 750.0,\n   \"friction\": 0.5\n  },\n  \"abs_plastic\": {\n   \"density_kg_m3\": 1050.0,\n   \"friction\": 0.5\n  }\n }\n}", "image": null}, {"i": 2, "t": 7.0, "tool": "run_probe", "args": "{\"kind\": \"tip\"}", "result": "{\"kind\": \"tip\", \"x\": [20, 26, 32, 36, 40, 43, 46, 49, 52, 56, 62, 70], \"x_label\": \"tilt-table angle (deg)\", \"y_label\": \"final tilt of the mug (deg)\", \"y\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 13.6], \"toppled\": [false, false, false, false, false, false, false, false, false, false, false, false], \"tips_at_deg\": null, \"note\": \"Gravity is rotated per environment to tilt the table, ramped over 0.6 s and held 0.8 s.\"}", "image": "renders/mug-tip-sonnet-5-5-r3/02-run_probe.png"}, {"i": 3, "t": 9.9, "tool": "set_inertial", "args": "{\"from_material\": \"ceramic\", \"link\": \"body\"}", "result": "{\"link\": \"body\", \"material\": \"ceramic\", \"mass\": 0.2836, \"com\": [0.0, 0.0, 0.0395], \"inertia\": [0.0005229, 0.0005229, 0.0004127]}", "image": null}, {"i": 4, "t": 12.5, "tool": "run_probe", "args": "{\"kind\": \"tip\"}", "result": "{\"kind\": \"tip\", \"x\": [20, 26, 32, 36, 40, 43, 46, 49, 52, 56, 62, 70], \"x_label\": \"tilt-table angle (deg)\", \"y_label\": \"final tilt of the mug (deg)\", \"y\": [0.1, 0.1, 0.2, 0.2, 0.4, 120.3, 73.9, 23.8, 157.5, 21.4, 12.4, 25.3], \"toppled\": [false, false, false, false, false, true, true, false, true, false, false, false], \"tips_at_deg\": 43, \"note\": \"Gravity is rotated per environment to tilt the table, ramped over 0.6 s and held 0.8 s.\"}", "image": "renders/mug-tip-sonnet-5-5-r3/04-run_probe.png"}, {"i": 5, "t": 12.9, "tool": "run_probe", "args": "{\"kind\": \"rest\"}", "result": "{\"kind\": \"rest\", \"max_speed\": 0.0, \"tilt_deg\": 0.0, \"stable\": true}", "image": null}], "before": {"mjcf": "<mujoco model=\"mug_017\">\n  <compiler angle=\"degree\"/>\n  <worldbody>\n    <body name=\"body\" pos=\"0 0 0\">\n      <freejoint/>\n      <inertial pos=\"0 0 0.003\" mass=\"0.2836\" diaginertia=\"0.0005229 0.0005229 0.0004127\"/>\n      <geom name=\"shell\" type=\"cylinder\" size=\"0.04 0.0475\" pos=\"0 0 0.0475\" friction=\"0.8 0.005 0.0001\"/>\n    </body>\n  </worldbody>\n</mujoco>\n", "metrics": "{\"rest.max_speed\": 0.0, \"rest.stable\": true, \"rest.tilt_deg\": 0.0, \"tip.tips_at_deg\": null}"}, "after": {"mjcf": "<mujoco model=\"mug_017\">\n  <compiler angle=\"degree\"/>\n  <worldbody>\n    <body name=\"body\" pos=\"0 0 0\">\n      <freejoint/>\n      <inertial pos=\"0 0 0.0395\" mass=\"0.2836\" diaginertia=\"0.0005229 0.0005229 0.0004127\"/>\n      <geom name=\"shell\" type=\"cylinder\" size=\"0.04 0.0475\" pos=\"0 0 0.0475\" friction=\"0.8 0.005 0.0001\"/>\n    </body>\n  </worldbody>\n</mujoco>\n", "metrics": "{\"rest.max_speed\": 0.0, \"rest.stable\": true, \"rest.tilt_deg\": 0.0, \"tip.tips_at_deg\": 43}"}, "diff": "--- mug_017.as_delivered.xml\n+++ mug_017.current.xml\n@@ -3,7 +3,7 @@\n   <worldbody>\n     <body name=\"body\" pos=\"0 0 0\">\n       <freejoint/>\n-      <inertial pos=\"0 0 0.003\" mass=\"0.2836\" diaginertia=\"0.0005229 0.0005229 0.0004127\"/>\n+      <inertial pos=\"0 0 0.0395\" mass=\"0.2836\" diaginertia=\"0.0005229 0.0005229 0.0004127\"/>\n       <geom name=\"shell\" type=\"cylinder\" size=\"0.04 0.0475\" pos=\"0 0 0.0475\" friction=\"0.8 0.005 0.0001\"/>\n     </body>\n   </worldbody>\n", "probe": {"kind": "tip", "x": [20, 26, 32, 36, 40, 43, 46, 49, 52, 56, 62, 70], "x_label": "tilt-table angle (deg)", "y_label": "final tilt of the mug (deg)", "before": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 13.6], "after": [0.1, 0.1, 0.2, 0.2, 0.4, 120.3, 73.9, 23.8, 157.5, 21.4, 12.4, 25.3], "reference": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0], "target": "topples on a tilt table near a real mug's 45.4°"}}
+{"id": "oven-door-opus-5-5-r2", "task": "oven-door", "object": "oven_004", "complaint": "Make the oven door heavier so it swings open.", "model": "claude-opus-5-5", "harness": "claude-code", "score": 1.0, "passed": true, "duration_s": 26.7, "checks": [{"id": "swings-open", "result": true, "description": "released at 5 deg, swings open to at least 85 deg within 2 s; reached at 0.9"}, {"id": "stops-at-limit", "result": true, "description": "stops at its 90 deg limit; max 90.1"}, {"id": "door-mass", "result": true, "description": "mass within a steel-and-glass oven door's band 3-10 kg; got 6.99 kg"}], "calls": [{"i": 1, "t": 4.0, "tool": "inspect", "args": "{}", "result": "{\n \"object\": \"oven_004\",\n \"description\": \"Wall oven, 60 cm wide, with a bottom-hinged door: steel skin over a glass panel.\",\n \"links\": {\n  \"oven\": {\n   \"material\": \"sheet_steel\",\n   \"fixed\": true\n  },\n  \"door\": {\n   \"material\": \"abs_plastic\",\n   \"mass\": 1.2,\n   \"com\": [\n    0.0,\n    0.0,\n    0.225\n   ],\n   \"inertia\": [\n    0.02034,\n    0.05625,\n    0.03609\n   ],\n   \"friction\": 0.6,\n   \"volume_cm3\": 972.0\n  }\n },\n \"joints\": {\n  \"door_hinge\": {\n   \"type\": \"hinge\",\n   \"parent\": \"oven\",\n   \"child\": \"door\",\n   \"axis\": [\n    1,\n    0,\n    0\n   ],\n   \"range\": [\n    0,\n    90\n   ],\n   \"damping\": 0.5,\n   \"frictionloss\": 4.0\n  }\n },\n \"editable_joints\": [\n  \"door_hinge\"\n ],\n \"suggested_probe\": \"hinge\",\n \"materials\": {\n  \"ceramic\": {\n   \"density_kg_m3\": 2400.0,\n   \"friction\": 0.8\n  },\n  \"sheet_steel\": {\n   \"density_kg_m3\": 7850.0,\n   \"friction\": 0.6\n  },\n  \"glass\": {\n   \"density_kg_m3\": 2500.0,\n   \"friction\": 0.5\n  },\n  \"oak\": {\n   \"density_kg_m3\": 750.0,\n   \"friction\": 0.5\n  },\n  \"abs_plastic\": {\n   \"density_kg_m3\": 1050.0,\n   \"friction\": 0.5\n  }\n }\n}", "image": null}, {"i": 2, "t": 7.2, "tool": "run_probe", "args": "{\"kind\": \"hinge\"}", "result": "{\"kind\": \"hinge\", \"x\": [0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8, 1.9, 2.0], \"x_label\": \"time after unlatching (s)\", \"y_label\": \"door angle (deg)\", \"y\": [5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1], \"final_deg\": 5.1, \"opens_at_s\": null, \"note\": \"Door released at 5 deg open with zero velocity, 2.0 s simulated.\"}", "image": "renders/oven-door-opus-5-5-r2/02-run_probe.png"}, {"i": 3, "t": 14.0, "tool": "set_material", "args": "{\"link\": \"door\", \"material\": \"sheet_steel\"}", "result": "{\"link\": \"door\", \"material\": \"sheet_steel\", \"friction\": 0.6, \"mass\": 6.987, \"com\": [0.0, 0.0, 0.225], \"inertia\": [0.11843, 0.327516, 0.210134]}", "image": null}, {"i": 4, "t": 14.9, "tool": "run_probe", "args": "{\"kind\": \"hinge\"}", "result": "{\"kind\": \"hinge\", \"x\": [0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8, 1.9, 2.0], \"x_label\": \"time after unlatching (s)\", \"y_label\": \"door angle (deg)\", \"y\": [5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1], \"final_deg\": 5.1, \"opens_at_s\": null, \"note\": \"Door released at 5 deg open with zero velocity, 2.0 s simulated.\"}", "image": "renders/oven-door-opus-5-5-r2/04-run_probe.png"}, {"i": 5, "t": 18.5, "tool": "set_joint", "args": "{\"frictionloss\": 0.5, \"name\": \"door_hinge\"}", "result": "{\"joint\": \"door_hinge\", \"type\": \"hinge\", \"parent\": \"oven\", \"child\": \"door\", \"axis\": [1, 0, 0], \"range\": [0, 90], \"damping\": 0.5, \"frictionloss\": 0.5}", "image": null}, {"i": 6, "t": 19.3, "tool": "run_probe", "args": "{\"kind\": \"hinge\"}", "result": "{\"kind\": \"hinge\", \"x\": [0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8, 1.9, 2.0], \"x_label\": \"time after unlatching (s)\", \"y_label\": \"door angle (deg)\", \"y\": [5.0, 5.4, 6.8, 9.3, 13.5, 20.4, 31.5, 49.1, 75.8, 90.1, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0], \"final_deg\": 90.0, \"opens_at_s\": 0.9, \"note\": \"Door released at 5 deg open with zero velocity, 2.0 s simulated.\"}", "image": "renders/oven-door-opus-5-5-r2/06-run_probe.png"}], "before": {"mjcf": "<mujoco model=\"oven_004\">\n  <compiler angle=\"degree\"/>\n  <worldbody>\n    <body name=\"oven\" pos=\"0 0 0\">\n      <geom name=\"plinth\" type=\"box\" size=\"0.30 0.27 0.05\" pos=\"0 0.02 0.05\"/>\n      <geom name=\"cavity\" type=\"box\" size=\"0.30 0.25 0.25\" pos=\"0 0.04 0.35\"/>\n      <body name=\"door\" pos=\"0 -0.235 0.10\">\n        <joint name=\"door_hinge\" type=\"hinge\" axis=\"1 0 0\" range=\"0 90\" damping=\"0.5\" frictionloss=\"4.0\" limited=\"true\"/>\n        <inertial pos=\"0 0 0.225\" mass=\"1.200\" diaginertia=\"0.02034 0.05625 0.03609\"/>\n        <geom name=\"panel\" type=\"box\" size=\"0.3 0.015 0.225\" pos=\"0 0 0.227\"/>\n      </body>\n    </body>\n  </worldbody>\n</mujoco>\n", "metrics": "{\"hinge.final_deg\": 5.1, \"hinge.opens_at_s\": null}"}, "after": {"mjcf": "<mujoco model=\"oven_004\">\n  <compiler angle=\"degree\"/>\n  <worldbody>\n    <body name=\"oven\" pos=\"0 0 0\">\n      <geom name=\"plinth\" type=\"box\" size=\"0.30 0.27 0.05\" pos=\"0 0.02 0.05\"/>\n      <geom name=\"cavity\" type=\"box\" size=\"0.30 0.25 0.25\" pos=\"0 0.04 0.35\"/>\n      <body name=\"door\" pos=\"0 -0.235 0.10\">\n        <joint name=\"door_hinge\" type=\"hinge\" axis=\"1 0 0\" range=\"0 90\" damping=\"0.5\" frictionloss=\"0.5\" limited=\"true\"/>\n        <inertial pos=\"0 0 0.225\" mass=\"6.987\" diaginertia=\"0.11843 0.327516 0.210134\"/>\n        <geom name=\"panel\" type=\"box\" size=\"0.3 0.015 0.225\" pos=\"0 0 0.227\"/>\n      </body>\n    </body>\n  </worldbody>\n</mujoco>\n", "metrics": "{\"hinge.final_deg\": 90.0, \"hinge.opens_at_s\": 0.9}"}, "diff": "--- oven_004.as_delivered.xml\n+++ oven_004.current.xml\n@@ -5,8 +5,8 @@\n       <geom name=\"plinth\" type=\"box\" size=\"0.30 0.27 0.05\" pos=\"0 0.02 0.05\"/>\n       <geom name=\"cavity\" type=\"box\" size=\"0.30 0.25 0.25\" pos=\"0 0.04 0.35\"/>\n       <body name=\"door\" pos=\"0 -0.235 0.10\">\n-        <joint name=\"door_hinge\" type=\"hinge\" axis=\"1 0 0\" range=\"0 90\" damping=\"0.5\" frictionloss=\"4.0\" limited=\"true\"/>\n-        <inertial pos=\"0 0 0.225\" mass=\"1.200\" diaginertia=\"0.02034 0.05625 0.03609\"/>\n+        <joint name=\"door_hinge\" type=\"hinge\" axis=\"1 0 0\" range=\"0 90\" damping=\"0.5\" frictionloss=\"0.5\" limited=\"true\"/>\n+        <inertial pos=\"0 0 0.225\" mass=\"6.987\" diaginertia=\"0.11843 0.327516 0.210134\"/>\n         <geom name=\"panel\" type=\"box\" size=\"0.3 0.015 0.225\" pos=\"0 0 0.227\"/>\n       </body>\n     </body>\n", "probe": {"kind": "hinge", "x": [0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8, 1.9, 2.0], "x_label": "time after unlatching (s)", "y_label": "door angle (deg)", "before": [5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1], "after": [5.0, 5.4, 6.8, 9.3, 13.5, 20.4, 31.5, 49.1, 75.8, 90.1, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0], "reference": null, "target": "released at 5°, opens to at least 85° within 2 s"}}
+{"id": "oven-door-sonnet-5-5-r1", "task": "oven-door", "object": "oven_004", "complaint": "Make the oven door heavier so it swings open.", "model": "claude-sonnet-5-5", "harness": "claude-code", "score": 1.0, "passed": true, "duration_s": 30.3, "checks": [{"id": "swings-open", "result": true, "description": "released at 5 deg, swings open to at least 85 deg within 2 s; reached at 0.8"}, {"id": "stops-at-limit", "result": true, "description": "stops at its 90 deg limit; max 90.7"}, {"id": "door-mass", "result": true, "description": "mass within a steel-and-glass oven door's band 3-10 kg; got 6.99 kg"}], "calls": [{"i": 1, "t": 13.1, "tool": "inspect", "args": "{}", "result": "{\n \"object\": \"oven_004\",\n \"description\": \"Wall oven, 60 cm wide, with a bottom-hinged door: steel skin over a glass panel.\",\n \"links\": {\n  \"oven\": {\n   \"material\": \"sheet_steel\",\n   \"fixed\": true\n  },\n  \"door\": {\n   \"material\": \"abs_plastic\",\n   \"mass\": 1.2,\n   \"com\": [\n    0.0,\n    0.0,\n    0.225\n   ],\n   \"inertia\": [\n    0.02034,\n    0.05625,\n    0.03609\n   ],\n   \"friction\": 0.6,\n   \"volume_cm3\": 972.0\n  }\n },\n \"joints\": {\n  \"door_hinge\": {\n   \"type\": \"hinge\",\n   \"parent\": \"oven\",\n   \"child\": \"door\",\n   \"axis\": [\n    1,\n    0,\n    0\n   ],\n   \"range\": [\n    0,\n    90\n   ],\n   \"damping\": 0.5,\n   \"frictionloss\": 4.0\n  }\n },\n \"editable_joints\": [\n  \"door_hinge\"\n ],\n \"suggested_probe\": \"hinge\",\n \"materials\": {\n  \"ceramic\": {\n   \"density_kg_m3\": 2400.0,\n   \"friction\": 0.8\n  },\n  \"sheet_steel\": {\n   \"density_kg_m3\": 7850.0,\n   \"friction\": 0.6\n  },\n  \"glass\": {\n   \"density_kg_m3\": 2500.0,\n   \"friction\": 0.5\n  },\n  \"oak\": {\n   \"density_kg_m3\": 750.0,\n   \"friction\": 0.5\n  },\n  \"abs_plastic\": {\n   \"density_kg_m3\": 1050.0,\n   \"friction\": 0.5\n  }\n }\n}", "image": null}, {"i": 2, "t": 14.1, "tool": "run_probe", "args": "{\"kind\": \"hinge\"}", "result": "{\"kind\": \"hinge\", \"x\": [0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8, 1.9, 2.0], \"x_label\": \"time after unlatching (s)\", \"y_label\": \"door angle (deg)\", \"y\": [5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1], \"final_deg\": 5.1, \"opens_at_s\": null, \"note\": \"Door released at 5 deg open with zero velocity, 2.0 s simulated.\"}", "image": "renders/oven-door-sonnet-5-5-r1/02-run_probe.png"}, {"i": 3, "t": 20.9, "tool": "set_material", "args": "{\"link\": \"door\", \"material\": \"sheet_steel\"}", "result": "{\"link\": \"door\", \"material\": \"sheet_steel\", \"friction\": 0.6, \"mass\": 6.987, \"com\": [0.0, 0.0, 0.225], \"inertia\": [0.11843, 0.327516, 0.210134]}", "image": null}, {"i": 4, "t": 22.7, "tool": "set_joint", "args": "{\"frictionloss\": 0.3, \"name\": \"door_hinge\"}", "result": "{\"joint\": \"door_hinge\", \"type\": \"hinge\", \"parent\": \"oven\", \"child\": \"door\", \"axis\": [1, 0, 0], \"range\": [0, 90], \"damping\": 0.5, \"frictionloss\": 0.3}", "image": null}, {"i": 5, "t": 24.4, "tool": "run_probe", "args": "{\"kind\": \"hinge\"}", "result": "{\"kind\": \"hinge\", \"x\": [0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8, 1.9, 2.0], \"x_label\": \"time after unlatching (s)\", \"y_label\": \"door angle (deg)\", \"y\": [5.0, 5.5, 7.2, 10.3, 15.5, 24.1, 37.7, 59.1, 90.7, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0], \"final_deg\": 90.0, \"opens_at_s\": 0.8, \"note\": \"Door released at 5 deg open with zero velocity, 2.0 s simulated.\"}", "image": "renders/oven-door-sonnet-5-5-r1/05-run_probe.png"}], "before": {"mjcf": "<mujoco model=\"oven_004\">\n  <compiler angle=\"degree\"/>\n  <worldbody>\n    <body name=\"oven\" pos=\"0 0 0\">\n      <geom name=\"plinth\" type=\"box\" size=\"0.30 0.27 0.05\" pos=\"0 0.02 0.05\"/>\n      <geom name=\"cavity\" type=\"box\" size=\"0.30 0.25 0.25\" pos=\"0 0.04 0.35\"/>\n      <body name=\"door\" pos=\"0 -0.235 0.10\">\n        <joint name=\"door_hinge\" type=\"hinge\" axis=\"1 0 0\" range=\"0 90\" damping=\"0.5\" frictionloss=\"4.0\" limited=\"true\"/>\n        <inertial pos=\"0 0 0.225\" mass=\"1.200\" diaginertia=\"0.02034 0.05625 0.03609\"/>\n        <geom name=\"panel\" type=\"box\" size=\"0.3 0.015 0.225\" pos=\"0 0 0.227\"/>\n      </body>\n    </body>\n  </worldbody>\n</mujoco>\n", "metrics": "{\"hinge.final_deg\": 5.1, \"hinge.opens_at_s\": null}"}, "after": {"mjcf": "<mujoco model=\"oven_004\">\n  <compiler angle=\"degree\"/>\n  <worldbody>\n    <body name=\"oven\" pos=\"0 0 0\">\n      <geom name=\"plinth\" type=\"box\" size=\"0.30 0.27 0.05\" pos=\"0 0.02 0.05\"/>\n      <geom name=\"cavity\" type=\"box\" size=\"0.30 0.25 0.25\" pos=\"0 0.04 0.35\"/>\n      <body name=\"door\" pos=\"0 -0.235 0.10\">\n        <joint name=\"door_hinge\" type=\"hinge\" axis=\"1 0 0\" range=\"0 90\" damping=\"0.5\" frictionloss=\"0.3\" limited=\"true\"/>\n        <inertial pos=\"0 0 0.225\" mass=\"6.987\" diaginertia=\"0.11843 0.327516 0.210134\"/>\n        <geom name=\"panel\" type=\"box\" size=\"0.3 0.015 0.225\" pos=\"0 0 0.227\"/>\n      </body>\n    </body>\n  </worldbody>\n</mujoco>\n", "metrics": "{\"hinge.final_deg\": 90.0, \"hinge.opens_at_s\": 0.8}"}, "diff": "--- oven_004.as_delivered.xml\n+++ oven_004.current.xml\n@@ -5,8 +5,8 @@\n       <geom name=\"plinth\" type=\"box\" size=\"0.30 0.27 0.05\" pos=\"0 0.02 0.05\"/>\n       <geom name=\"cavity\" type=\"box\" size=\"0.30 0.25 0.25\" pos=\"0 0.04 0.35\"/>\n       <body name=\"door\" pos=\"0 -0.235 0.10\">\n-        <joint name=\"door_hinge\" type=\"hinge\" axis=\"1 0 0\" range=\"0 90\" damping=\"0.5\" frictionloss=\"4.0\" limited=\"true\"/>\n-        <inertial pos=\"0 0 0.225\" mass=\"1.200\" diaginertia=\"0.02034 0.05625 0.03609\"/>\n+        <joint name=\"door_hinge\" type=\"hinge\" axis=\"1 0 0\" range=\"0 90\" damping=\"0.5\" frictionloss=\"0.3\" limited=\"true\"/>\n+        <inertial pos=\"0 0 0.225\" mass=\"6.987\" diaginertia=\"0.11843 0.327516 0.210134\"/>\n         <geom name=\"panel\" type=\"box\" size=\"0.3 0.015 0.225\" pos=\"0 0 0.227\"/>\n       </body>\n     </body>\n", "probe": {"kind": "hinge", "x": [0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8, 1.9, 2.0], "x_label": "time after unlatching (s)", "y_label": "door angle (deg)", "before": [5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1], "after": [5.0, 5.5, 7.2, 10.3, 15.5, 24.1, 37.7, 59.1, 90.7, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0], "reference": null, "target": "released at 5°, opens to at least 85° within 2 s"}}
+{"id": "oven-door-sonnet-5-5-r3", "task": "oven-door", "object": "oven_004", "complaint": "Make the oven door heavier so it swings open.", "model": "claude-sonnet-5-5", "harness": "claude-code", "score": 1.0, "passed": true, "duration_s": 24.7, "checks": [{"id": "swings-open", "result": true, "description": "released at 5 deg, swings open to at least 85 deg within 2 s; reached at 0.9"}, {"id": "stops-at-limit", "result": true, "description": "stops at its 90 deg limit; max 90.1"}, {"id": "door-mass", "result": true, "description": "mass within a steel-and-glass oven door's band 3-10 kg; got 6.75 kg"}], "calls": [{"i": 1, "t": 3.8, "tool": "inspect", "args": "{}", "result": "{\n \"object\": \"oven_004\",\n \"description\": \"Wall oven, 60 cm wide, with a bottom-hinged door: steel skin over a glass panel.\",\n \"links\": {\n  \"oven\": {\n   \"material\": \"sheet_steel\",\n   \"fixed\": true\n  },\n  \"door\": {\n   \"material\": \"abs_plastic\",\n   \"mass\": 1.2,\n   \"com\": [\n    0.0,\n    0.0,\n    0.225\n   ],\n   \"inertia\": [\n    0.02034,\n    0.05625,\n    0.03609\n   ],\n   \"friction\": 0.6,\n   \"volume_cm3\": 972.0\n  }\n },\n \"joints\": {\n  \"door_hinge\": {\n   \"type\": \"hinge\",\n   \"parent\": \"oven\",\n   \"child\": \"door\",\n   \"axis\": [\n    1,\n    0,\n    0\n   ],\n   \"range\": [\n    0,\n    90\n   ],\n   \"damping\": 0.5,\n   \"frictionloss\": 4.0\n  }\n },\n \"editable_joints\": [\n  \"door_hinge\"\n ],\n \"suggested_probe\": \"hinge\",\n \"materials\": {\n  \"ceramic\": {\n   \"density_kg_m3\": 2400.0,\n   \"friction\": 0.8\n  },\n  \"sheet_steel\": {\n   \"density_kg_m3\": 7850.0,\n   \"friction\": 0.6\n  },\n  \"glass\": {\n   \"density_kg_m3\": 2500.0,\n   \"friction\": 0.5\n  },\n  \"oak\": {\n   \"density_kg_m3\": 750.0,\n   \"friction\": 0.5\n  },\n  \"abs_plastic\": {\n   \"density_kg_m3\": 1050.0,\n   \"friction\": 0.5\n  }\n }\n}", "image": null}, {"i": 2, "t": 6.7, "tool": "run_probe", "args": "{\"kind\": \"hinge\"}", "result": "{\"kind\": \"hinge\", \"x\": [0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8, 1.9, 2.0], \"x_label\": \"time after unlatching (s)\", \"y_label\": \"door angle (deg)\", \"y\": [5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1], \"final_deg\": 5.1, \"opens_at_s\": null, \"note\": \"Door released at 5 deg open with zero velocity, 2.0 s simulated.\"}", "image": "renders/oven-door-sonnet-5-5-r3/02-run_probe.png"}, {"i": 3, "t": 13.4, "tool": "set_material", "args": "{\"link\": \"door\", \"material\": \"glass\"}", "result": "{\"link\": \"door\", \"material\": \"glass\", \"friction\": 0.5, \"mass\": 6.75, \"com\": [0.0, 0.0, 0.225], \"inertia\": [0.114413, 0.316406, 0.203006]}", "image": null}, {"i": 4, "t": 13.4, "tool": "inspect", "args": "{}", "result": "{\n \"object\": \"oven_004\",\n \"description\": \"Wall oven, 60 cm wide, with a bottom-hinged door: steel skin over a glass panel.\",\n \"links\": {\n  \"oven\": {\n   \"material\": \"sheet_steel\",\n   \"fixed\": true\n  },\n  \"door\": {\n   \"material\": \"glass\",\n   \"mass\": 6.75,\n   \"com\": [\n    0.0,\n    0.0,\n    0.225\n   ],\n   \"inertia\": [\n    0.114413,\n    0.316406,\n    0.203006\n   ],\n   \"friction\": 0.5,\n   \"volume_cm3\": 972.0\n  }\n },\n \"joints\": {\n  \"door_hinge\": {\n   \"type\": \"hinge\",\n   \"parent\": \"oven\",\n   \"child\": \"door\",\n   \"axis\": [\n    1,\n    0,\n    0\n   ],\n   \"range\": [\n    0,\n    90\n   ],\n   \"damping\": 0.5,\n   \"frictionloss\": 4.0\n  }\n },\n \"editable_joints\": [\n  \"door_hinge\"\n ],\n \"suggested_probe\": \"hinge\",\n \"materials\": {\n  \"ceramic\": {\n   \"density_kg_m3\": 2400.0,\n   \"friction\": 0.8\n  },\n  \"sheet_steel\": {\n   \"density_kg_m3\": 7850.0,\n   \"friction\": 0.6\n  },\n  \"glass\": {\n   \"density_kg_m3\": 2500.0,\n   \"friction\": 0.5\n  },\n  \"oak\": {\n   \"density_kg_m3\": 750.0,\n   \"friction\": 0.5\n  },\n  \"abs_plastic\": {\n   \"density_kg_m3\": 1050.0,\n   \"friction\": 0.5\n  }\n }\n}", "image": null}, {"i": 5, "t": 16.0, "tool": "set_joint", "args": "{\"frictionloss\": 0.5, \"name\": \"door_hinge\"}", "result": "{\"joint\": \"door_hinge\", \"type\": \"hinge\", \"parent\": \"oven\", \"child\": \"door\", \"axis\": [1, 0, 0], \"range\": [0, 90], \"damping\": 0.5, \"frictionloss\": 0.5}", "image": null}, {"i": 6, "t": 17.8, "tool": "run_probe", "args": "{\"kind\": \"hinge\"}", "result": "{\"kind\": \"hinge\", \"x\": [0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8, 1.9, 2.0], \"x_label\": \"time after unlatching (s)\", \"y_label\": \"door angle (deg)\", \"y\": [5.0, 5.4, 6.7, 9.1, 13.2, 19.9, 30.6, 47.4, 73.2, 90.1, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0], \"final_deg\": 90.0, \"opens_at_s\": 0.9, \"note\": \"Door released at 5 deg open with zero velocity, 2.0 s simulated.\"}", "image": "renders/oven-door-sonnet-5-5-r3/06-run_probe.png"}], "before": {"mjcf": "<mujoco model=\"oven_004\">\n  <compiler angle=\"degree\"/>\n  <worldbody>\n    <body name=\"oven\" pos=\"0 0 0\">\n      <geom name=\"plinth\" type=\"box\" size=\"0.30 0.27 0.05\" pos=\"0 0.02 0.05\"/>\n      <geom name=\"cavity\" type=\"box\" size=\"0.30 0.25 0.25\" pos=\"0 0.04 0.35\"/>\n      <body name=\"door\" pos=\"0 -0.235 0.10\">\n        <joint name=\"door_hinge\" type=\"hinge\" axis=\"1 0 0\" range=\"0 90\" damping=\"0.5\" frictionloss=\"4.0\" limited=\"true\"/>\n        <inertial pos=\"0 0 0.225\" mass=\"1.200\" diaginertia=\"0.02034 0.05625 0.03609\"/>\n        <geom name=\"panel\" type=\"box\" size=\"0.3 0.015 0.225\" pos=\"0 0 0.227\"/>\n      </body>\n    </body>\n  </worldbody>\n</mujoco>\n", "metrics": "{\"hinge.final_deg\": 5.1, \"hinge.opens_at_s\": null}"}, "after": {"mjcf": "<mujoco model=\"oven_004\">\n  <compiler angle=\"degree\"/>\n  <worldbody>\n    <body name=\"oven\" pos=\"0 0 0\">\n      <geom name=\"plinth\" type=\"box\" size=\"0.30 0.27 0.05\" pos=\"0 0.02 0.05\"/>\n      <geom name=\"cavity\" type=\"box\" size=\"0.30 0.25 0.25\" pos=\"0 0.04 0.35\"/>\n      <body name=\"door\" pos=\"0 -0.235 0.10\">\n        <joint name=\"door_hinge\" type=\"hinge\" axis=\"1 0 0\" range=\"0 90\" damping=\"0.5\" frictionloss=\"0.5\" limited=\"true\"/>\n        <inertial pos=\"0 0 0.225\" mass=\"6.750\" diaginertia=\"0.114413 0.316406 0.203006\"/>\n        <geom name=\"panel\" type=\"box\" size=\"0.3 0.015 0.225\" pos=\"0 0 0.227\"/>\n      </body>\n    </body>\n  </worldbody>\n</mujoco>\n", "metrics": "{\"hinge.final_deg\": 90.0, \"hinge.opens_at_s\": 0.9}"}, "diff": "--- oven_004.as_delivered.xml\n+++ oven_004.current.xml\n@@ -5,8 +5,8 @@\n       <geom name=\"plinth\" type=\"box\" size=\"0.30 0.27 0.05\" pos=\"0 0.02 0.05\"/>\n       <geom name=\"cavity\" type=\"box\" size=\"0.30 0.25 0.25\" pos=\"0 0.04 0.35\"/>\n       <body name=\"door\" pos=\"0 -0.235 0.10\">\n-        <joint name=\"door_hinge\" type=\"hinge\" axis=\"1 0 0\" range=\"0 90\" damping=\"0.5\" frictionloss=\"4.0\" limited=\"true\"/>\n-        <inertial pos=\"0 0 0.225\" mass=\"1.200\" diaginertia=\"0.02034 0.05625 0.03609\"/>\n+        <joint name=\"door_hinge\" type=\"hinge\" axis=\"1 0 0\" range=\"0 90\" damping=\"0.5\" frictionloss=\"0.5\" limited=\"true\"/>\n+        <inertial pos=\"0 0 0.225\" mass=\"6.750\" diaginertia=\"0.114413 0.316406 0.203006\"/>\n         <geom name=\"panel\" type=\"box\" size=\"0.3 0.015 0.225\" pos=\"0 0 0.227\"/>\n       </body>\n     </body>\n", "probe": {"kind": "hinge", "x": [0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0, 1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8, 1.9, 2.0], "x_label": "time after unlatching (s)", "y_label": "door angle (deg)", "before": [5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1, 5.1], "after": [5.0, 5.4, 6.7, 9.1, 13.2, 19.9, 30.6, 47.4, 73.2, 90.1, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0, 90.0], "reference": null, "target": "released at 5°, opens to at least 85° within 2 s"}}
+{"id": "drawer-slide-opus-5-5-r2", "task": "drawer-slide", "object": "cabinet_022", "complaint": "This drawer should slide.", "model": "claude-opus-5-5", "harness": "claude-code", "score": 1.0, "passed": true, "duration_s": 34.9, "checks": [{"id": "slides-open", "result": true, "description": "a 10 N pull opens it at least 0.30 m; max travel 0.3532 m"}, {"id": "stops-before-falling-out", "result": true, "description": "stops before it leaves the cabinet (at most 0.47 m, still supported); max 0.3532 m"}, {"id": "slides-along-depth", "result": true, "description": "has a slide joint along the cabinet's depth axis"}], "calls": [{"i": 1, "t": 4.4, "tool": "inspect", "args": "{}", "result": "{\n \"object\": \"cabinet_022\",\n \"description\": \"Base cabinet, 56 cm wide, with one top drawer, oak veneer on particle board.\",\n \"links\": {\n  \"carcass\": {\n   \"material\": \"oak\",\n   \"fixed\": true\n  },\n  \"drawer\": {\n   \"material\": \"oak\",\n   \"mass\": 2.0,\n   \"com\": [\n    0.0,\n    0.0,\n    0.07\n   ],\n   \"inertia\": [\n    0.04,\n    0.05,\n    0.07\n   ],\n   \"friction\": 0.5\n  }\n },\n \"joints\": {},\n \"editable_joints\": [\n  \"drawer_slide\"\n ],\n \"suggested_probe\": \"travel\",\n \"materials\": {\n  \"ceramic\": {\n   \"density_kg_m3\": 2400.0,\n   \"friction\": 0.8\n  },\n  \"sheet_steel\": {\n   \"density_kg_m3\": 7850.0,\n   \"friction\": 0.6\n  },\n  \"glass\": {\n   \"density_kg_m3\": 2500.0,\n   \"friction\": 0.5\n  },\n  \"oak\": {\n   \"density_kg_m3\": 750.0,\n   \"friction\": 0.5\n  },\n  \"abs_plastic\": {\n   \"density_kg_m3\": 1050.0,\n   \"friction\": 0.5\n  }\n }\n}", "image": null}, {"i": 2, "t": 6.3, "tool": "run_probe", "args": "{\"kind\": \"travel\"}", "result": "{\"kind\": \"travel\", \"x\": [0.0, 0.05, 0.1, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.45, 0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, 0.95, 1.0, 1.05, 1.1, 1.15, 1.2, 1.25, 1.3, 1.35, 1.4, 1.45, 1.5], \"x_label\": \"time (s); 10 N pull for the first 0.6 s\", \"y_label\": \"drawer travel (m)\", \"y\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \"final_m\": 0.0, \"max_m\": 0.0, \"drawer_z\": 0.615, \"note\": \"A 10 N pull on the drawer front toward the user for 0.6 s, then 0.9 s coasting.\"}", "image": "renders/drawer-slide-opus-5-5-r2/02-run_probe.png"}, {"i": 3, "t": 9.8, "tool": "diff", "args": "{}", "result": "(no changes)", "image": null}, {"i": 4, "t": 10.0, "tool": "render", "args": "{}", "result": "Rendered cabinet_022 with the last travel probe", "image": "renders/drawer-slide-opus-5-5-r2/04-render.png"}, {"i": 5, "t": 14.5, "tool": "set_joint", "args": "{\"axis\": [1.0, 0.0, 0.0], \"damping\": 2.0, \"frictionloss\": 1.0, \"name\": \"drawer_slide\", \"range\": [0.0, 0.4], \"type\": \"slide\"}", "result": "{\"joint\": \"drawer_slide\", \"type\": \"slide\", \"parent\": \"carcass\", \"child\": \"drawer\", \"axis\": [1.0, 0.0, 0.0], \"range\": [0.0, 0.4], \"damping\": 2.0, \"frictionloss\": 1.0}", "image": null}, {"i": 6, "t": 17.1, "tool": "run_probe", "args": "{\"kind\": \"travel\"}", "result": "{\"kind\": \"travel\", \"x\": [0.0, 0.05, 0.1, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.45, 0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, 0.95, 1.0, 1.05, 1.1, 1.15, 1.2, 1.25, 1.3, 1.35, 1.4, 1.45, 1.5], \"x_label\": \"time (s); 10 N pull for the first 0.6 s\", \"y_label\": \"drawer travel (m)\", \"y\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \"final_m\": 0.0, \"max_m\": 0.0, \"drawer_z\": 0.615, \"note\": \"A 10 N pull on the drawer front toward the user for 0.6 s, then 0.9 s coasting.\"}", "image": "renders/drawer-slide-opus-5-5-r2/06-run_probe.png"}, {"i": 7, "t": 21.4, "tool": "set_joint", "args": "{\"axis\": [-1.0, 0.0, 0.0], \"name\": \"drawer_slide\"}", "result": "{\"joint\": \"drawer_slide\", \"type\": \"slide\", \"parent\": \"carcass\", \"child\": \"drawer\", \"axis\": [-1.0, 0.0, 0.0], \"range\": [0.0, 0.4], \"damping\": 2.0, \"frictionloss\": 1.0}", "image": null}, {"i": 8, "t": 22.3, "tool": "run_probe", "args": "{\"kind\": \"travel\"}", "result": "{\"kind\": \"travel\", \"x\": [0.0, 0.05, 0.1, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.45, 0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, 0.95, 1.0, 1.05, 1.1, 1.15, 1.2, 1.25, 1.3, 1.35, 1.4, 1.45, 1.5], \"x_label\": \"time (s); 10 N pull for the first 0.6 s\", \"y_label\": \"drawer travel (m)\", \"y\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \"final_m\": 0.0, \"max_m\": 0.0, \"drawer_z\": 0.615, \"note\": \"A 10 N pull on the drawer front toward the user for 0.6 s, then 0.9 s coasting.\"}", "image": "renders/drawer-slide-opus-5-5-r2/08-run_probe.png"}, {"i": 9, "t": 23.9, "tool": "diff", "args": "{}", "result": "--- cabinet_022.as_delivered.xml\n+++ cabinet_022.current.xml\n@@ -9,6 +9,7 @@\n       <geom name=\"back\" type=\"box\" size=\"0.28 0.01 0.10\" pos=\"0 0.25 0.70\"/>\n       <geom name=\"base\" type=\"box\" size=\"0.28 0.26 0.295\" pos=\"0 0 0.295\"/>\n       <body name=\"drawer\" pos=\"0 0.0 0.615\">\n+        <joint name=\"drawer_slide\" type=\"slide\" axis=\"-1 0 0\" range=\"0.0 0.4\" damping=\"2.0\" frictionloss=\"1.0\" limited=\"true\"/>\n         <inertial pos=\"0 0 0.07\" mass=\"2.000\" diaginertia=\"0.04 0.05 0.07\"/>\n         <geom name=\"tray\" type=\"box\" size=\"0.25 0.23 0.006\" pos=\"0 -0.005 0.008\"/>\n         <geom name=\"front\" type=\"box\" size=\"0.275 0.01 0.090\" pos=\"0 -0.245 0.07\"/>\n", "image": null}, {"i": 10, "t": 27.8, "tool": "set_joint", "args": "{\"axis\": [0.0, -1.0, 0.0], \"name\": \"drawer_slide\", \"range\": [0.0, 0.35]}", "result": "{\"joint\": \"drawer_slide\", \"type\": \"slide\", \"parent\": \"carcass\", \"child\": \"drawer\", \"axis\": [0.0, -1.0, 0.0], \"range\": [0.0, 0.35], \"damping\": 2.0, \"frictionloss\": 1.0}", "image": null}, {"i": 11, "t": 28.6, "tool": "run_probe", "args": "{\"kind\": \"travel\"}", "result": "{\"kind\": \"travel\", \"x\": [0.0, 0.05, 0.1, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.45, 0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, 0.95, 1.0, 1.05, 1.1, 1.15, 1.2, 1.25, 1.3, 1.35, 1.4, 1.45, 1.5], \"x_label\": \"time (s); 10 N pull for the first 0.6 s\", \"y_label\": \"drawer travel (m)\", \"y\": [0.0, 0.0055, 0.0212, 0.0466, 0.0812, 0.1247, 0.1767, 0.2367, 0.3043, 0.3532, 0.3501, 0.3501, 0.3501, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35], \"final_m\": 0.35, \"max_m\": 0.3532, \"drawer_z\": 0.615, \"note\": \"A 10 N pull on the drawer front toward the user for 0.6 s, then 0.9 s coasting.\"}", "image": "renders/drawer-slide-opus-5-5-r2/11-run_probe.png"}], "before": {"mjcf": "<mujoco model=\"cabinet_022\">\n  <compiler angle=\"degree\"/>\n  <worldbody>\n    <body name=\"carcass\" pos=\"0 0 0\">\n      <geom name=\"bottom\" type=\"box\" size=\"0.28 0.26 0.01\" pos=\"0 0 0.60\"/>\n      <geom name=\"top\" type=\"box\" size=\"0.28 0.26 0.01\" pos=\"0 0 0.80\"/>\n      <geom name=\"left\" type=\"box\" size=\"0.01 0.26 0.10\" pos=\"-0.27 0 0.70\"/>\n      <geom name=\"right\" type=\"box\" size=\"0.01 0.26 0.10\" pos=\"0.27 0 0.70\"/>\n      <geom name=\"back\" type=\"box\" size=\"0.28 0.01 0.10\" pos=\"0 0.25 0.70\"/>\n      <geom name=\"base\" type=\"box\" size=\"0.28 0.26 0.295\" pos=\"0 0 0.295\"/>\n      <body name=\"drawer\" pos=\"0 0.0 0.615\">\n        <inertial pos=\"0 0 0.07\" mass=\"2.000\" diaginertia=\"0.04 0.05 0.07\"/>\n        <geom name=\"tray\" type=\"box\" size=\"0.25 0.23 0.006\" pos=\"0 -0.005 0.008\"/>\n        <geom name=\"front\" type=\"box\" size=\"0.275 0.01 0.090\" pos=\"0 -0.245 0.07\"/>\n        <geom name=\"handle\" type=\"box\" size=\"0.08 0.012 0.008\" pos=\"0 -0.27 0.09000000000000001\"/>\n      </body>\n    </body>\n  </worldbody>\n</mujoco>\n", "metrics": "{\"travel.drawer_z\": 0.615, \"travel.final_m\": 0.0, \"travel.max_m\": 0.0}"}, "after": {"mjcf": "<mujoco model=\"cabinet_022\">\n  <compiler angle=\"degree\"/>\n  <worldbody>\n    <body name=\"carcass\" pos=\"0 0 0\">\n      <geom name=\"bottom\" type=\"box\" size=\"0.28 0.26 0.01\" pos=\"0 0 0.60\"/>\n      <geom name=\"top\" type=\"box\" size=\"0.28 0.26 0.01\" pos=\"0 0 0.80\"/>\n      <geom name=\"left\" type=\"box\" size=\"0.01 0.26 0.10\" pos=\"-0.27 0 0.70\"/>\n      <geom name=\"right\" type=\"box\" size=\"0.01 0.26 0.10\" pos=\"0.27 0 0.70\"/>\n      <geom name=\"back\" type=\"box\" size=\"0.28 0.01 0.10\" pos=\"0 0.25 0.70\"/>\n      <geom name=\"base\" type=\"box\" size=\"0.28 0.26 0.295\" pos=\"0 0 0.295\"/>\n      <body name=\"drawer\" pos=\"0 0.0 0.615\">\n        <joint name=\"drawer_slide\" type=\"slide\" axis=\"0 -1 0\" range=\"0.0 0.35\" damping=\"2.0\" frictionloss=\"1.0\" limited=\"true\"/>\n        <inertial pos=\"0 0 0.07\" mass=\"2.000\" diaginertia=\"0.04 0.05 0.07\"/>\n        <geom name=\"tray\" type=\"box\" size=\"0.25 0.23 0.006\" pos=\"0 -0.005 0.008\"/>\n        <geom name=\"front\" type=\"box\" size=\"0.275 0.01 0.090\" pos=\"0 -0.245 0.07\"/>\n        <geom name=\"handle\" type=\"box\" size=\"0.08 0.012 0.008\" pos=\"0 -0.27 0.09000000000000001\"/>\n      </body>\n    </body>\n  </worldbody>\n</mujoco>\n", "metrics": "{\"travel.drawer_z\": 0.615, \"travel.final_m\": 0.35, \"travel.max_m\": 0.3532}"}, "diff": "--- cabinet_022.as_delivered.xml\n+++ cabinet_022.current.xml\n@@ -9,6 +9,7 @@\n       <geom name=\"back\" type=\"box\" size=\"0.28 0.01 0.10\" pos=\"0 0.25 0.70\"/>\n       <geom name=\"base\" type=\"box\" size=\"0.28 0.26 0.295\" pos=\"0 0 0.295\"/>\n       <body name=\"drawer\" pos=\"0 0.0 0.615\">\n+        <joint name=\"drawer_slide\" type=\"slide\" axis=\"0 -1 0\" range=\"0.0 0.35\" damping=\"2.0\" frictionloss=\"1.0\" limited=\"true\"/>\n         <inertial pos=\"0 0 0.07\" mass=\"2.000\" diaginertia=\"0.04 0.05 0.07\"/>\n         <geom name=\"tray\" type=\"box\" size=\"0.25 0.23 0.006\" pos=\"0 -0.005 0.008\"/>\n         <geom name=\"front\" type=\"box\" size=\"0.275 0.01 0.090\" pos=\"0 -0.245 0.07\"/>\n", "probe": {"kind": "travel", "x": [0.0, 0.05, 0.1, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.45, 0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, 0.95, 1.0, 1.05, 1.1, 1.15, 1.2, 1.25, 1.3, 1.35, 1.4, 1.45, 1.5], "x_label": "time (s); 10 N pull for the first 0.6 s", "y_label": "drawer travel (m)", "before": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "after": [0.0, 0.0055, 0.0212, 0.0466, 0.0812, 0.1247, 0.1767, 0.2367, 0.3043, 0.3532, 0.3501, 0.3501, 0.3501, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35], "reference": null, "target": "a 10 N pull opens it at least 0.30 m, and it stops before leaving the cabinet"}}
+{"id": "drawer-slide-sonnet-5-5-r1", "task": "drawer-slide", "object": "cabinet_022", "complaint": "This drawer should slide.", "model": "claude-sonnet-5-5", "harness": "claude-code", "score": 1.0, "passed": true, "duration_s": 72.7, "checks": [{"id": "slides-open", "result": true, "description": "a 10 N pull opens it at least 0.30 m; max travel 0.4041 m"}, {"id": "stops-before-falling-out", "result": true, "description": "stops before it leaves the cabinet (at most 0.47 m, still supported); max 0.4041 m"}, {"id": "slides-along-depth", "result": true, "description": "has a slide joint along the cabinet's depth axis"}], "calls": [{"i": 1, "t": 13.4, "tool": "inspect", "args": "{}", "result": "{\n \"object\": \"cabinet_022\",\n \"description\": \"Base cabinet, 56 cm wide, with one top drawer, oak veneer on particle board.\",\n \"links\": {\n  \"carcass\": {\n   \"material\": \"oak\",\n   \"fixed\": true\n  },\n  \"drawer\": {\n   \"material\": \"oak\",\n   \"mass\": 2.0,\n   \"com\": [\n    0.0,\n    0.0,\n    0.07\n   ],\n   \"inertia\": [\n    0.04,\n    0.05,\n    0.07\n   ],\n   \"friction\": 0.5\n  }\n },\n \"joints\": {},\n \"editable_joints\": [\n  \"drawer_slide\"\n ],\n \"suggested_probe\": \"travel\",\n \"materials\": {\n  \"ceramic\": {\n   \"density_kg_m3\": 2400.0,\n   \"friction\": 0.8\n  },\n  \"sheet_steel\": {\n   \"density_kg_m3\": 7850.0,\n   \"friction\": 0.6\n  },\n  \"glass\": {\n   \"density_kg_m3\": 2500.0,\n   \"friction\": 0.5\n  },\n  \"oak\": {\n   \"density_kg_m3\": 750.0,\n   \"friction\": 0.5\n  },\n  \"abs_plastic\": {\n   \"density_kg_m3\": 1050.0,\n   \"friction\": 0.5\n  }\n }\n}", "image": null}, {"i": 2, "t": 14.4, "tool": "run_probe", "args": "{\"kind\": \"travel\"}", "result": "{\"kind\": \"travel\", \"x\": [0.0, 0.05, 0.1, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.45, 0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, 0.95, 1.0, 1.05, 1.1, 1.15, 1.2, 1.25, 1.3, 1.35, 1.4, 1.45, 1.5], \"x_label\": \"time (s); 10 N pull for the first 0.6 s\", \"y_label\": \"drawer travel (m)\", \"y\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \"final_m\": 0.0, \"max_m\": 0.0, \"drawer_z\": 0.615, \"note\": \"A 10 N pull on the drawer front toward the user for 0.6 s, then 0.9 s coasting.\"}", "image": "renders/drawer-slide-sonnet-5-5-r1/02-run_probe.png"}, {"i": 3, "t": 16.6, "tool": "diff", "args": "{}", "result": "(no changes)", "image": null}, {"i": 4, "t": 16.7, "tool": "render", "args": "{}", "result": "Rendered cabinet_022 with the last travel probe", "image": "renders/drawer-slide-sonnet-5-5-r1/04-render.png"}, {"i": 5, "t": 19.8, "tool": "set_joint", "args": "{\"axis\": [1.0, 0.0, 0.0], \"damping\": 2.0, \"frictionloss\": 1.0, \"name\": \"drawer_slide\", \"range\": [0.0, 0.4], \"type\": \"slide\"}", "result": "{\"joint\": \"drawer_slide\", \"type\": \"slide\", \"parent\": \"carcass\", \"child\": \"drawer\", \"axis\": [1.0, 0.0, 0.0], \"range\": [0.0, 0.4], \"damping\": 2.0, \"frictionloss\": 1.0}", "image": null}, {"i": 6, "t": 20.0, "tool": "set_inertial", "args": "{\"from_material\": \"oak\", \"link\": \"drawer\"}", "result": "{\"link\": \"drawer\", \"material\": \"oak\", \"mass\": 2.0, \"com\": [0.0, 0.0, 0.07], \"inertia\": [0.04, 0.05, 0.07]}", "image": null}, {"i": 7, "t": 23.9, "tool": "run_probe", "args": "{\"kind\": \"travel\"}", "result": "{\"kind\": \"travel\", \"x\": [0.0, 0.05, 0.1, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.45, 0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, 0.95, 1.0, 1.05, 1.1, 1.15, 1.2, 1.25, 1.3, 1.35, 1.4, 1.45, 1.5], \"x_label\": \"time (s); 10 N pull for the first 0.6 s\", \"y_label\": \"drawer travel (m)\", \"y\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \"final_m\": 0.0, \"max_m\": 0.0, \"drawer_z\": 0.615, \"note\": \"A 10 N pull on the drawer front toward the user for 0.6 s, then 0.9 s coasting.\"}", "image": "renders/drawer-slide-sonnet-5-5-r1/07-run_probe.png"}, {"i": 8, "t": 25.4, "tool": "set_joint", "args": "{\"axis\": [-1.0, 0.0, 0.0], \"name\": \"drawer_slide\"}", "result": "{\"joint\": \"drawer_slide\", \"type\": \"slide\", \"parent\": \"carcass\", \"child\": \"drawer\", \"axis\": [-1.0, 0.0, 0.0], \"range\": [0.0, 0.4], \"damping\": 2.0, \"frictionloss\": 1.0}", "image": null}, {"i": 9, "t": 26.9, "tool": "run_probe", "args": "{\"kind\": \"travel\"}", "result": "{\"kind\": \"travel\", \"x\": [0.0, 0.05, 0.1, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.45, 0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, 0.95, 1.0, 1.05, 1.1, 1.15, 1.2, 1.25, 1.3, 1.35, 1.4, 1.45, 1.5], \"x_label\": \"time (s); 10 N pull for the first 0.6 s\", \"y_label\": \"drawer travel (m)\", \"y\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \"final_m\": 0.0, \"max_m\": 0.0, \"drawer_z\": 0.615, \"note\": \"A 10 N pull on the drawer front toward the user for 0.6 s, then 0.9 s coasting.\"}", "image": "renders/drawer-slide-sonnet-5-5-r1/09-run_probe.png"}, {"i": 10, "t": 32.6, "tool": "set_joint", "args": "{\"damping\": 1.0, \"frictionloss\": 0.3, \"name\": \"drawer_slide\"}", "result": "{\"joint\": \"drawer_slide\", \"type\": \"slide\", \"parent\": \"carcass\", \"child\": \"drawer\", \"axis\": [-1.0, 0.0, 0.0], \"range\": [0.0, 0.4], \"damping\": 1.0, \"frictionloss\": 0.3}", "image": null}, {"i": 11, "t": 34.3, "tool": "run_probe", "args": "{\"kind\": \"travel\"}", "result": "{\"kind\": \"travel\", \"x\": [0.0, 0.05, 0.1, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.45, 0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, 0.95, 1.0, 1.05, 1.1, 1.15, 1.2, 1.25, 1.3, 1.35, 1.4, 1.45, 1.5], \"x_label\": \"time (s); 10 N pull for the first 0.6 s\", \"y_label\": \"drawer travel (m)\", \"y\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \"final_m\": 0.0, \"max_m\": 0.0, \"drawer_z\": 0.615, \"note\": \"A 10 N pull on the drawer front toward the user for 0.6 s, then 0.9 s coasting.\"}", "image": "renders/drawer-slide-sonnet-5-5-r1/11-run_probe.png"}, {"i": 12, "t": 36.3, "tool": "set_joint", "args": "{\"axis\": [1.0, 0.0, 0.0], \"name\": \"drawer_slide\"}", "result": "{\"joint\": \"drawer_slide\", \"type\": \"slide\", \"parent\": \"carcass\", \"child\": \"drawer\", \"axis\": [1.0, 0.0, 0.0], \"range\": [0.0, 0.4], \"damping\": 1.0, \"frictionloss\": 0.3}", "image": null}, {"i": 13, "t": 37.9, "tool": "run_probe", "args": "{\"kind\": \"travel\"}", "result": "{\"kind\": \"travel\", \"x\": [0.0, 0.05, 0.1, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.45, 0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, 0.95, 1.0, 1.05, 1.1, 1.15, 1.2, 1.25, 1.3, 1.35, 1.4, 1.45, 1.5], \"x_label\": \"time (s); 10 N pull for the first 0.6 s\", \"y_label\": \"drawer travel (m)\", \"y\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \"final_m\": 0.0, \"max_m\": 0.0, \"drawer_z\": 0.615, \"note\": \"A 10 N pull on the drawer front toward the user for 0.6 s, then 0.9 s coasting.\"}", "image": "renders/drawer-slide-sonnet-5-5-r1/13-run_probe.png"}, {"i": 14, "t": 39.5, "tool": "set_joint", "args": "{\"axis\": [0.0, 1.0, 0.0], \"name\": \"drawer_slide\"}", "result": "{\"joint\": \"drawer_slide\", \"type\": \"slide\", \"parent\": \"carcass\", \"child\": \"drawer\", \"axis\": [0.0, 1.0, 0.0], \"range\": [0.0, 0.4], \"damping\": 1.0, \"frictionloss\": 0.3}", "image": null}, {"i": 15, "t": 41.2, "tool": "run_probe", "args": "{\"kind\": \"travel\"}", "result": "{\"kind\": \"travel\", \"x\": [0.0, 0.05, 0.1, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.45, 0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, 0.95, 1.0, 1.05, 1.1, 1.15, 1.2, 1.25, 1.3, 1.35, 1.4, 1.45, 1.5], \"x_label\": \"time (s); 10 N pull for the first 0.6 s\", \"y_label\": \"drawer travel (m)\", \"y\": [0.0, 0.0001, 0.0001, 0.0001, 0.0001, 0.0001, 0.0001, 0.0001, 0.0001, 0.0001, 0.0001, 0.0001, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.0, -0.0, -0.0, -0.0, -0.0, 0.0, 0.0], \"final_m\": 0.0, \"max_m\": 0.0001, \"drawer_z\": 0.615, \"note\": \"A 10 N pull on the drawer front toward the user for 0.6 s, then 0.9 s coasting.\"}", "image": "renders/drawer-slide-sonnet-5-5-r1/15-run_probe.png"}, {"i": 16, "t": 46.1, "tool": "set_joint", "args": "{\"axis\": [-1.0, 0.0, 0.0], \"damping\": 0.5, \"frictionloss\": 0.0, \"name\": \"drawer_slide\"}", "result": "{\"joint\": \"drawer_slide\", \"type\": \"slide\", \"parent\": \"carcass\", \"child\": \"drawer\", \"axis\": [-1.0, 0.0, 0.0], \"range\": [0.0, 0.4], \"damping\": 0.5, \"frictionloss\": 0.0}", "image": null}, {"i": 17, "t": 47.8, "tool": "run_probe", "args": "{\"kind\": \"travel\"}", "result": "{\"kind\": \"travel\", \"x\": [0.0, 0.05, 0.1, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.45, 0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, 0.95, 1.0, 1.05, 1.1, 1.15, 1.2, 1.25, 1.3, 1.35, 1.4, 1.45, 1.5], \"x_label\": \"time (s); 10 N pull for the first 0.6 s\", \"y_label\": \"drawer travel (m)\", \"y\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \"final_m\": 0.0, \"max_m\": 0.0, \"drawer_z\": 0.615, \"note\": \"A 10 N pull on the drawer front toward the user for 0.6 s, then 0.9 s coasting.\"}", "image": "renders/drawer-slide-sonnet-5-5-r1/17-run_probe.png"}, {"i": 18, "t": 53.9, "tool": "set_joint", "args": "{\"axis\": [1.0, 0.0, 0.0], \"name\": \"drawer_slide\", \"range\": [-0.4, 0.4]}", "result": "{\"joint\": \"drawer_slide\", \"type\": \"slide\", \"parent\": \"carcass\", \"child\": \"drawer\", \"axis\": [1.0, 0.0, 0.0], \"range\": [-0.4, 0.4], \"damping\": 0.5, \"frictionloss\": 0.0}", "image": null}, {"i": 19, "t": 55.7, "tool": "run_probe", "args": "{\"kind\": \"travel\"}", "result": "{\"kind\": \"travel\", \"x\": [0.0, 0.05, 0.1, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.45, 0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, 0.95, 1.0, 1.05, 1.1, 1.15, 1.2, 1.25, 1.3, 1.35, 1.4, 1.45, 1.5], \"x_label\": \"time (s); 10 N pull for the first 0.6 s\", \"y_label\": \"drawer travel (m)\", \"y\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \"final_m\": 0.0, \"max_m\": 0.0, \"drawer_z\": 0.615, \"note\": \"A 10 N pull on the drawer front toward the user for 0.6 s, then 0.9 s coasting.\"}", "image": "renders/drawer-slide-sonnet-5-5-r1/19-run_probe.png"}, {"i": 20, "t": 59.0, "tool": "set_joint", "args": "{\"axis\": [0.0, -1.0, 0.0], \"name\": \"drawer_slide\", \"range\": [0.0, 0.4]}", "result": "{\"joint\": \"drawer_slide\", \"type\": \"slide\", \"parent\": \"carcass\", \"child\": \"drawer\", \"axis\": [0.0, -1.0, 0.0], \"range\": [0.0, 0.4], \"damping\": 0.5, \"frictionloss\": 0.0}", "image": null}, {"i": 21, "t": 61.0, "tool": "run_probe", "args": "{\"kind\": \"travel\"}", "result": "{\"kind\": \"travel\", \"x\": [0.0, 0.05, 0.1, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.45, 0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, 0.95, 1.0, 1.05, 1.1, 1.15, 1.2, 1.25, 1.3, 1.35, 1.4, 1.45, 1.5], \"x_label\": \"time (s); 10 N pull for the first 0.6 s\", \"y_label\": \"drawer travel (m)\", \"y\": [0.0, 0.0062, 0.0241, 0.0536, 0.0947, 0.147, 0.2106, 0.2853, 0.3709, 0.4011, 0.4001, 0.4001, 0.4001, 0.4, 0.3999, 0.3998, 0.3997, 0.3996, 0.3995, 0.3994, 0.3993, 0.3992, 0.3991, 0.3991, 0.399, 0.3989, 0.3988, 0.3987, 0.3987, 0.3986, 0.3985], \"final_m\": 0.3985, \"max_m\": 0.4011, \"drawer_z\": 0.615, \"note\": \"A 10 N pull on the drawer front toward the user for 0.6 s, then 0.9 s coasting.\"}", "image": "renders/drawer-slide-sonnet-5-5-r1/21-run_probe.png"}, {"i": 22, "t": 63.8, "tool": "set_joint", "args": "{\"damping\": 5.0, \"frictionloss\": 1.5, \"name\": \"drawer_slide\"}", "result": "{\"joint\": \"drawer_slide\", \"type\": \"slide\", \"parent\": \"carcass\", \"child\": \"drawer\", \"axis\": [0.0, -1.0, 0.0], \"range\": [0.0, 0.4], \"damping\": 5.0, \"frictionloss\": 1.5}", "image": null}, {"i": 23, "t": 65.7, "tool": "run_probe", "args": "{\"kind\": \"travel\"}", "result": "{\"kind\": \"travel\", \"x\": [0.0, 0.05, 0.1, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.45, 0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, 0.95, 1.0, 1.05, 1.1, 1.15, 1.2, 1.25, 1.3, 1.35, 1.4, 1.45, 1.5], \"x_label\": \"time (s); 10 N pull for the first 0.6 s\", \"y_label\": \"drawer travel (m)\", \"y\": [0.0, 0.005, 0.019, 0.041, 0.07, 0.1053, 0.1461, 0.1919, 0.2421, 0.2962, 0.3537, 0.4041, 0.4002, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4], \"final_m\": 0.4, \"max_m\": 0.4041, \"drawer_z\": 0.615, \"note\": \"A 10 N pull on the drawer front toward the user for 0.6 s, then 0.9 s coasting.\"}", "image": "renders/drawer-slide-sonnet-5-5-r1/23-run_probe.png"}, {"i": 24, "t": 65.7, "tool": "diff", "args": "{}", "result": "--- cabinet_022.as_delivered.xml\n+++ cabinet_022.current.xml\n@@ -9,6 +9,7 @@\n       <geom name=\"back\" type=\"box\" size=\"0.28 0.01 0.10\" pos=\"0 0.25 0.70\"/>\n       <geom name=\"base\" type=\"box\" size=\"0.28 0.26 0.295\" pos=\"0 0 0.295\"/>\n       <body name=\"drawer\" pos=\"0 0.0 0.615\">\n+        <joint name=\"drawer_slide\" type=\"slide\" axis=\"0 -1 0\" range=\"0.0 0.4\" damping=\"5.0\" frictionloss=\"1.5\" limited=\"true\"/>\n         <inertial pos=\"0 0 0.07\" mass=\"2.000\" diaginertia=\"0.04 0.05 0.07\"/>\n         <geom name=\"tray\" type=\"box\" size=\"0.25 0.23 0.006\" pos=\"0 -0.005 0.008\"/>\n         <geom name=\"front\" type=\"box\" size=\"0.275 0.01 0.090\" pos=\"0 -0.245 0.07\"/>\n", "image": null}], "before": {"mjcf": "<mujoco model=\"cabinet_022\">\n  <compiler angle=\"degree\"/>\n  <worldbody>\n    <body name=\"carcass\" pos=\"0 0 0\">\n      <geom name=\"bottom\" type=\"box\" size=\"0.28 0.26 0.01\" pos=\"0 0 0.60\"/>\n      <geom name=\"top\" type=\"box\" size=\"0.28 0.26 0.01\" pos=\"0 0 0.80\"/>\n      <geom name=\"left\" type=\"box\" size=\"0.01 0.26 0.10\" pos=\"-0.27 0 0.70\"/>\n      <geom name=\"right\" type=\"box\" size=\"0.01 0.26 0.10\" pos=\"0.27 0 0.70\"/>\n      <geom name=\"back\" type=\"box\" size=\"0.28 0.01 0.10\" pos=\"0 0.25 0.70\"/>\n      <geom name=\"base\" type=\"box\" size=\"0.28 0.26 0.295\" pos=\"0 0 0.295\"/>\n      <body name=\"drawer\" pos=\"0 0.0 0.615\">\n        <inertial pos=\"0 0 0.07\" mass=\"2.000\" diaginertia=\"0.04 0.05 0.07\"/>\n        <geom name=\"tray\" type=\"box\" size=\"0.25 0.23 0.006\" pos=\"0 -0.005 0.008\"/>\n        <geom name=\"front\" type=\"box\" size=\"0.275 0.01 0.090\" pos=\"0 -0.245 0.07\"/>\n        <geom name=\"handle\" type=\"box\" size=\"0.08 0.012 0.008\" pos=\"0 -0.27 0.09000000000000001\"/>\n      </body>\n    </body>\n  </worldbody>\n</mujoco>\n", "metrics": "{\"travel.drawer_z\": 0.615, \"travel.final_m\": 0.0, \"travel.max_m\": 0.0}"}, "after": {"mjcf": "<mujoco model=\"cabinet_022\">\n  <compiler angle=\"degree\"/>\n  <worldbody>\n    <body name=\"carcass\" pos=\"0 0 0\">\n      <geom name=\"bottom\" type=\"box\" size=\"0.28 0.26 0.01\" pos=\"0 0 0.60\"/>\n      <geom name=\"top\" type=\"box\" size=\"0.28 0.26 0.01\" pos=\"0 0 0.80\"/>\n      <geom name=\"left\" type=\"box\" size=\"0.01 0.26 0.10\" pos=\"-0.27 0 0.70\"/>\n      <geom name=\"right\" type=\"box\" size=\"0.01 0.26 0.10\" pos=\"0.27 0 0.70\"/>\n      <geom name=\"back\" type=\"box\" size=\"0.28 0.01 0.10\" pos=\"0 0.25 0.70\"/>\n      <geom name=\"base\" type=\"box\" size=\"0.28 0.26 0.295\" pos=\"0 0 0.295\"/>\n      <body name=\"drawer\" pos=\"0 0.0 0.615\">\n        <joint name=\"drawer_slide\" type=\"slide\" axis=\"0 -1 0\" range=\"0.0 0.4\" damping=\"5.0\" frictionloss=\"1.5\" limited=\"true\"/>\n        <inertial pos=\"0 0 0.07\" mass=\"2.000\" diaginertia=\"0.04 0.05 0.07\"/>\n        <geom name=\"tray\" type=\"box\" size=\"0.25 0.23 0.006\" pos=\"0 -0.005 0.008\"/>\n        <geom name=\"front\" type=\"box\" size=\"0.275 0.01 0.090\" pos=\"0 -0.245 0.07\"/>\n        <geom name=\"handle\" type=\"box\" size=\"0.08 0.012 0.008\" pos=\"0 -0.27 0.09000000000000001\"/>\n      </body>\n    </body>\n  </worldbody>\n</mujoco>\n", "metrics": "{\"travel.drawer_z\": 0.615, \"travel.final_m\": 0.4, \"travel.max_m\": 0.4041}"}, "diff": "--- cabinet_022.as_delivered.xml\n+++ cabinet_022.current.xml\n@@ -9,6 +9,7 @@\n       <geom name=\"back\" type=\"box\" size=\"0.28 0.01 0.10\" pos=\"0 0.25 0.70\"/>\n       <geom name=\"base\" type=\"box\" size=\"0.28 0.26 0.295\" pos=\"0 0 0.295\"/>\n       <body name=\"drawer\" pos=\"0 0.0 0.615\">\n+        <joint name=\"drawer_slide\" type=\"slide\" axis=\"0 -1 0\" range=\"0.0 0.4\" damping=\"5.0\" frictionloss=\"1.5\" limited=\"true\"/>\n         <inertial pos=\"0 0 0.07\" mass=\"2.000\" diaginertia=\"0.04 0.05 0.07\"/>\n         <geom name=\"tray\" type=\"box\" size=\"0.25 0.23 0.006\" pos=\"0 -0.005 0.008\"/>\n         <geom name=\"front\" type=\"box\" size=\"0.275 0.01 0.090\" pos=\"0 -0.245 0.07\"/>\n", "probe": {"kind": "travel", "x": [0.0, 0.05, 0.1, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.45, 0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, 0.95, 1.0, 1.05, 1.1, 1.15, 1.2, 1.25, 1.3, 1.35, 1.4, 1.45, 1.5], "x_label": "time (s); 10 N pull for the first 0.6 s", "y_label": "drawer travel (m)", "before": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "after": [0.0, 0.005, 0.019, 0.041, 0.07, 0.1053, 0.1461, 0.1919, 0.2421, 0.2962, 0.3537, 0.4041, 0.4002, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4], "reference": null, "target": "a 10 N pull opens it at least 0.30 m, and it stops before leaving the cabinet"}}
+{"id": "drawer-slide-sonnet-5-5-r3", "task": "drawer-slide", "object": "cabinet_022", "complaint": "This drawer should slide.", "model": "claude-sonnet-5-5", "harness": "claude-code", "score": 1.0, "passed": true, "duration_s": 24.5, "checks": [{"id": "slides-open", "result": true, "description": "a 10 N pull opens it at least 0.30 m; max travel 0.3516 m"}, {"id": "stops-before-falling-out", "result": true, "description": "stops before it leaves the cabinet (at most 0.47 m, still supported); max 0.3516 m"}, {"id": "slides-along-depth", "result": true, "description": "has a slide joint along the cabinet's depth axis"}], "calls": [{"i": 1, "t": 3.5, "tool": "inspect", "args": "{}", "result": "{\n \"object\": \"cabinet_022\",\n \"description\": \"Base cabinet, 56 cm wide, with one top drawer, oak veneer on particle board.\",\n \"links\": {\n  \"carcass\": {\n   \"material\": \"oak\",\n   \"fixed\": true\n  },\n  \"drawer\": {\n   \"material\": \"oak\",\n   \"mass\": 2.0,\n   \"com\": [\n    0.0,\n    0.0,\n    0.07\n   ],\n   \"inertia\": [\n    0.04,\n    0.05,\n    0.07\n   ],\n   \"friction\": 0.5\n  }\n },\n \"joints\": {},\n \"editable_joints\": [\n  \"drawer_slide\"\n ],\n \"suggested_probe\": \"travel\",\n \"materials\": {\n  \"ceramic\": {\n   \"density_kg_m3\": 2400.0,\n   \"friction\": 0.8\n  },\n  \"sheet_steel\": {\n   \"density_kg_m3\": 7850.0,\n   \"friction\": 0.6\n  },\n  \"glass\": {\n   \"density_kg_m3\": 2500.0,\n   \"friction\": 0.5\n  },\n  \"oak\": {\n   \"density_kg_m3\": 750.0,\n   \"friction\": 0.5\n  },\n  \"abs_plastic\": {\n   \"density_kg_m3\": 1050.0,\n   \"friction\": 0.5\n  }\n }\n}", "image": null}, {"i": 2, "t": 6.1, "tool": "run_probe", "args": "{\"kind\": \"travel\"}", "result": "{\"kind\": \"travel\", \"x\": [0.0, 0.05, 0.1, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.45, 0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, 0.95, 1.0, 1.05, 1.1, 1.15, 1.2, 1.25, 1.3, 1.35, 1.4, 1.45, 1.5], \"x_label\": \"time (s); 10 N pull for the first 0.6 s\", \"y_label\": \"drawer travel (m)\", \"y\": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], \"final_m\": 0.0, \"max_m\": 0.0, \"drawer_z\": 0.615, \"note\": \"A 10 N pull on the drawer front toward the user for 0.6 s, then 0.9 s coasting.\"}", "image": "renders/drawer-slide-sonnet-5-5-r3/02-run_probe.png"}, {"i": 3, "t": 10.8, "tool": "set_joint", "args": "{\"axis\": [1.0, 0.0, 0.0], \"damping\": 2.0, \"frictionloss\": 0.5, \"name\": \"drawer_slide\", \"range\": [0.0, 0.35], \"type\": \"slide\"}", "result": "{\"joint\": \"drawer_slide\", \"type\": \"slide\", \"parent\": \"carcass\", \"child\": \"drawer\", \"axis\": [1.0, 0.0, 0.0], \"range\": [0.0, 0.35], \"damping\": 2.0, \"frictionloss\": 0.5}", "image": null}, {"i": 4, "t": 11.0, "tool": "diff", "args": "{}", "result": "--- cabinet_022.as_delivered.xml\n+++ cabinet_022.current.xml\n@@ -9,6 +9,7 @@\n       <geom name=\"back\" type=\"box\" size=\"0.28 0.01 0.10\" pos=\"0 0.25 0.70\"/>\n       <geom name=\"base\" type=\"box\" size=\"0.28 0.26 0.295\" pos=\"0 0 0.295\"/>\n       <body name=\"drawer\" pos=\"0 0.0 0.615\">\n+        <joint name=\"drawer_slide\" type=\"slide\" axis=\"1 0 0\" range=\"0.0 0.35\" damping=\"2.0\" frictionloss=\"0.5\" limited=\"true\"/>\n         <inertial pos=\"0 0 0.07\" mass=\"2.000\" diaginertia=\"0.04 0.05 0.07\"/>\n         <geom name=\"tray\" type=\"box\" size=\"0.25 0.23 0.006\" pos=\"0 -0.005 0.008\"/>\n         <geom name=\"front\" type=\"box\" size=\"0.275 0.01 0.090\" pos=\"0 -0.245 0.07\"/>\n", "image": null}, {"i": 5, "t": 13.2, "tool": "set_joint", "args": "{\"axis\": [0.0, -1.0, 0.0], \"name\": \"drawer_slide\"}", "result": "{\"joint\": \"drawer_slide\", \"type\": \"slide\", \"parent\": \"carcass\", \"child\": \"drawer\", \"axis\": [0.0, -1.0, 0.0], \"range\": [0.0, 0.35], \"damping\": 2.0, \"frictionloss\": 0.5}", "image": null}, {"i": 6, "t": 13.8, "tool": "set_inertial", "args": "{\"from_material\": \"oak\", \"link\": \"drawer\"}", "result": "{\"link\": \"drawer\", \"material\": \"oak\", \"mass\": 2.0, \"com\": [0.0, 0.0, 0.07], \"inertia\": [0.04, 0.05, 0.07]}", "image": null}, {"i": 7, "t": 17.7, "tool": "run_probe", "args": "{\"kind\": \"travel\"}", "result": "{\"kind\": \"travel\", \"x\": [0.0, 0.05, 0.1, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.45, 0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, 0.95, 1.0, 1.05, 1.1, 1.15, 1.2, 1.25, 1.3, 1.35, 1.4, 1.45, 1.5], \"x_label\": \"time (s); 10 N pull for the first 0.6 s\", \"y_label\": \"drawer travel (m)\", \"y\": [0.0, 0.0058, 0.0223, 0.0491, 0.0857, 0.1317, 0.1865, 0.2498, 0.3212, 0.3516, 0.3501, 0.3501, 0.3501, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35], \"final_m\": 0.35, \"max_m\": 0.3516, \"drawer_z\": 0.615, \"note\": \"A 10 N pull on the drawer front toward the user for 0.6 s, then 0.9 s coasting.\"}", "image": "renders/drawer-slide-sonnet-5-5-r3/07-run_probe.png"}], "before": {"mjcf": "<mujoco model=\"cabinet_022\">\n  <compiler angle=\"degree\"/>\n  <worldbody>\n    <body name=\"carcass\" pos=\"0 0 0\">\n      <geom name=\"bottom\" type=\"box\" size=\"0.28 0.26 0.01\" pos=\"0 0 0.60\"/>\n      <geom name=\"top\" type=\"box\" size=\"0.28 0.26 0.01\" pos=\"0 0 0.80\"/>\n      <geom name=\"left\" type=\"box\" size=\"0.01 0.26 0.10\" pos=\"-0.27 0 0.70\"/>\n      <geom name=\"right\" type=\"box\" size=\"0.01 0.26 0.10\" pos=\"0.27 0 0.70\"/>\n      <geom name=\"back\" type=\"box\" size=\"0.28 0.01 0.10\" pos=\"0 0.25 0.70\"/>\n      <geom name=\"base\" type=\"box\" size=\"0.28 0.26 0.295\" pos=\"0 0 0.295\"/>\n      <body name=\"drawer\" pos=\"0 0.0 0.615\">\n        <inertial pos=\"0 0 0.07\" mass=\"2.000\" diaginertia=\"0.04 0.05 0.07\"/>\n        <geom name=\"tray\" type=\"box\" size=\"0.25 0.23 0.006\" pos=\"0 -0.005 0.008\"/>\n        <geom name=\"front\" type=\"box\" size=\"0.275 0.01 0.090\" pos=\"0 -0.245 0.07\"/>\n        <geom name=\"handle\" type=\"box\" size=\"0.08 0.012 0.008\" pos=\"0 -0.27 0.09000000000000001\"/>\n      </body>\n    </body>\n  </worldbody>\n</mujoco>\n", "metrics": "{\"travel.drawer_z\": 0.615, \"travel.final_m\": 0.0, \"travel.max_m\": 0.0}"}, "after": {"mjcf": "<mujoco model=\"cabinet_022\">\n  <compiler angle=\"degree\"/>\n  <worldbody>\n    <body name=\"carcass\" pos=\"0 0 0\">\n      <geom name=\"bottom\" type=\"box\" size=\"0.28 0.26 0.01\" pos=\"0 0 0.60\"/>\n      <geom name=\"top\" type=\"box\" size=\"0.28 0.26 0.01\" pos=\"0 0 0.80\"/>\n      <geom name=\"left\" type=\"box\" size=\"0.01 0.26 0.10\" pos=\"-0.27 0 0.70\"/>\n      <geom name=\"right\" type=\"box\" size=\"0.01 0.26 0.10\" pos=\"0.27 0 0.70\"/>\n      <geom name=\"back\" type=\"box\" size=\"0.28 0.01 0.10\" pos=\"0 0.25 0.70\"/>\n      <geom name=\"base\" type=\"box\" size=\"0.28 0.26 0.295\" pos=\"0 0 0.295\"/>\n      <body name=\"drawer\" pos=\"0 0.0 0.615\">\n        <joint name=\"drawer_slide\" type=\"slide\" axis=\"0 -1 0\" range=\"0.0 0.35\" damping=\"2.0\" frictionloss=\"0.5\" limited=\"true\"/>\n        <inertial pos=\"0 0 0.07\" mass=\"2.000\" diaginertia=\"0.04 0.05 0.07\"/>\n        <geom name=\"tray\" type=\"box\" size=\"0.25 0.23 0.006\" pos=\"0 -0.005 0.008\"/>\n        <geom name=\"front\" type=\"box\" size=\"0.275 0.01 0.090\" pos=\"0 -0.245 0.07\"/>\n        <geom name=\"handle\" type=\"box\" size=\"0.08 0.012 0.008\" pos=\"0 -0.27 0.09000000000000001\"/>\n      </body>\n    </body>\n  </worldbody>\n</mujoco>\n", "metrics": "{\"travel.drawer_z\": 0.615, \"travel.final_m\": 0.35, \"travel.max_m\": 0.3516}"}, "diff": "--- cabinet_022.as_delivered.xml\n+++ cabinet_022.current.xml\n@@ -9,6 +9,7 @@\n       <geom name=\"back\" type=\"box\" size=\"0.28 0.01 0.10\" pos=\"0 0.25 0.70\"/>\n       <geom name=\"base\" type=\"box\" size=\"0.28 0.26 0.295\" pos=\"0 0 0.295\"/>\n       <body name=\"drawer\" pos=\"0 0.0 0.615\">\n+        <joint name=\"drawer_slide\" type=\"slide\" axis=\"0 -1 0\" range=\"0.0 0.35\" damping=\"2.0\" frictionloss=\"0.5\" limited=\"true\"/>\n         <inertial pos=\"0 0 0.07\" mass=\"2.000\" diaginertia=\"0.04 0.05 0.07\"/>\n         <geom name=\"tray\" type=\"box\" size=\"0.25 0.23 0.006\" pos=\"0 -0.005 0.008\"/>\n         <geom name=\"front\" type=\"box\" size=\"0.275 0.01 0.090\" pos=\"0 -0.245 0.07\"/>\n", "probe": {"kind": "travel", "x": [0.0, 0.05, 0.1, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.45, 0.5, 0.55, 0.6, 0.65, 0.7, 0.75, 0.8, 0.85, 0.9, 0.95, 1.0, 1.05, 1.1, 1.15, 1.2, 1.25, 1.3, 1.35, 1.4, 1.45, 1.5], "x_label": "time (s); 10 N pull for the first 0.6 s", "y_label": "drawer travel (m)", "before": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "after": [0.0, 0.0058, 0.0223, 0.0491, 0.0857, 0.1317, 0.1865, 0.2498, 0.3212, 0.3516, 0.3501, 0.3501, 0.3501, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35], "reference": null, "target": "a 10 N pull opens it at least 0.30 m, and it stops before leaving the cabinet"}}