{"claim":{"id":"67f70867-8847-43cf-bd55-979063298393","submission_id":"98ed7ee7-eab7-41c1-abbb-0e86a1906dea","submission_revision_id":"23a8dd98-b13a-4094-996f-26ffa0afb128","builder":"builder-01","status":"active","claimed_at":"2026-10-15T15:14:46.048975Z","delivered_at":null,"ended_at":null,"delivery_note":null,"end_reason":null},"task":{"submission_id":"98ed7ee7-eab7-41c1-abbb-0e86a1906dea","submission_revision_id":"23a8dd98-b13a-4094-996f-26ffa0afb128","revision_version":3,"submission_status":"under_review","submitted_at":"2026-08-30T07:14:01.366471Z","submitter_name":"Tarun Raheja","submitter_email":"tarunraheja1234@gmail.com","task":{"status":"submitted","version":3,"extra_fields":{},"submitted_at":"2026-08-30T07:14:01.366471+00:00","industry_domain":"Mechanical Engineering - lifting and rigging (hoist reeving design and verification)","task_short_name":"reeving_modelling_mujoco_instance_1","operating_system":"Linux","task_description":"Objective: You are the rigging engineer on a hoist package. Eleven reeving\narrangements must be modelled, simulated and signed off. For each one, build a\nMuJoCo model of the reeving, verify it behaves correctly over the load block's\nfull stroke, and report the quantities that go on the calculation sheet.\n\nDuty: 40,000 kg load (W = 392,400 N at g = 9.81), wire rope MBL 500,000 N,\nrequired design factor 5.0, per-sheave efficiency 0.98, lead line hauled in at\nthe rate annotated on each arrangement.\n\nStarting state:\n- input/problem_spec.md — duty, reeving mechanics, drawing conventions, the MJCF\n  model requirements, and the reporting requirement.\n- input/output_contract.json — required files, results schema, how each model is\n  measured, and tolerances.\n- input/specs/R01.json … R08.json — eight arrangements in machine-readable form:\n  anchors, haul points, carriers with one translational degree of freedom each,\n  sheaves as tangent-point pairs, sheave bodies with centres and radii, and rope\n  paths with haul rates.\n- input/drawings/D1.pdf, D2.pdf, D3.pdf — three further arrangements as drawings\n  only. Each carries a schedule of exact sheave centres and radii and exact\n  dead-end and haul-point coordinates, and annotates the haul rates. The topology\n  must be read from the drawing; tangent points are not given.\n\nDeliverables:\n1. output/models/R01.xml … R08.xml, D1.xml, D2.xml, D3.xml — one MJCF model per\n   arrangement. Each must put the load block on a body `load` of 40,000 kg with a\n   slide joint `lift` (axis 0 0 1), put a travelling block where present on body\n   and joint `h1`, expose exactly those degrees of freedom, carry one spatial\n   tendon per rope named `main` for the load-bearing rope and `aux` for the\n   auxiliary rope where present, and use gravity 0 0 -9.81. Where the arrangement\n   has a travelling block, the `h1` body has a total mass of 50 kg. Both masses\n   are graded: the travelling block's self-weight is carried by the auxiliary\n   rope, so it changes that rope's static tension.\n2. output/results.json — fall count per arrangement; lead-line pull and\n   design-factor verdict for R01 to R04; the topology read from each drawing for\n   D1 to D3.\n\nRules:\n- A rope leaves a sheave along the tangent, so a tangent point is perpendicular\n  to its leg and both tangent points of a sheave must agree on its wrap sense.\n  Sheaves may be modelled as pairs of sites at the tangent points or as geoms the\n  tendon wraps with a sidesite; both are accepted and give the same Jacobian.\n- The fall count is not in general the velocity ratio. It is the velocity ratio\n  only where every fall is parallel to the direction of travel and no carrier\n  other than the load block moves. Both conditions fail in five arrangements.\n- A fall is a rope segment with exactly one endpoint on the load block. A segment\n  between two tangent points of the same load-block sheave is a wrap segment.\n- Lead-line pull is T = W(1-eta)/(eta(1-eta^n)). Do not substitute W/n; it changes\n  the verdict on one arrangement here.\n\nEverything runs on CPU. No GUI step.","software_licensing":"Free/Open Source","evaluation_criteria":null,"verification_method":"Run the shipped grader:\n\n    PYTHONPATH=scripts python scripts/score_outputs.py <output_dir> reference\n    PYTHONPATH=scripts python scripts/score_outputs.py <output_dir> reference --variant nearterm\n\nBinary and deterministic. No judge model. Every model check is performed by\nloading the agent's MJCF into MuJoCo and measuring it; nothing is read from the\nfile text, so answers cannot be written into the model.\n\nHard gates, each scoring 0.0: results.json missing or unreadable; any required\nmodel file missing, failing to compile, missing a required joint or tendon, or\nexposing the wrong number of degrees of freedom.\n\nPer arrangement, measured in MuJoCo:\n- body masses, 1e-6 relative of the published values: `load` 40,000 kg and, where\n  the arrangement has a travelling block, `h1` 50 kg\n- tendon Jacobian d(length)/d(joint) by central differences on simulated tendon\n  length, 1e-3 absolute\n- tendon length at load-block displacements 0, ±0.15 and ±0.30 m, compared as\n  offsets from the rest configuration, 1e-3 absolute, so a sheave modelled as two\n  sites and one modelled as a wrapped geom both pass\n- carrier velocities solved from the measured Jacobian, 1e-4 absolute\n- static rope tension from inverse dynamics holding the rated load, 1e-3 relative\n\nReported: falls_on_load exact for all; lead_line_pull_N 1e-3 relative and\ndesign_factor_pass exact for R01–R04; topology exact for D1–D3.\n\nFixtures, both shipped:\n- fixtures/reference_pass → 1.0, both variants\n- fixtures/naive_fail     → 0.0, 27 failures full / 18 nearterm. An engineer who\n  models the travelling block as fixed and straightens the oblique falls. It\n  still passes the four simple arrangements, so it is a plausible engineer, not a\n  strawman. On drawing D1 it reports the correct load velocity and still fails,\n  because its Jacobian and tension are wrong — a number can be right by accident,\n  a model cannot.\n\nReference numbers: v_load is 0.500000000 for R01, 0.750000000 for R05,\n0.261056129 for R06, 0.250000000 for R09/D1, 0.276062257 for R10/D2 and exactly 0\nfor R11/D3. Static lead-line tension is 196.20 kN on the 2-fall tackle and\n98.10 kN on the 4-fall, rising to 102.44 kN and 108.33 kN where the falls are\noblique. R02's design factor is 4.847 with sheave efficiency against 5.097\nfrictionless, which is the verdict flip.\n\nProvenance: the kinematics are derived twice by independent routes and must agree\nbefore any reference value is written. scripts/reeving_solver.py forms the\nconstraint Jacobian analytically; scripts/make_gold.py builds the MJCF for the\nsame arrangement and measures it in MuJoCo. Across all eleven the two agree to\n3.7e-09 on the Jacobian and 5.8e-10 on the velocities, and the build aborts on\nany disagreement beyond 1e-6. Drawings are rendered from the same specs the gold\ncomes from. scripts/selftest.py runs 37 checks; all pass. The package rebuilds\nbyte-identically via scripts/build_all.sh.\n\nChanged in this revision, two review findings, both correct and both the same\nclass — a requirement the reference depended on that no solver-facing document\npublished.\n\nFirst, single-rope tendons were named `a` in the reference while the contract\npublished `main`, so a contract-compliant submission failed on six arrangements.\nFixed at the source. Five checks added tying the published tendon names to the\nreference models and the grader, including one confirming a compliant model with\nno actuators still scores 1.0 — that requirement was also unpublished.\n\nSecond, the travelling block carried a hardcoded 50 kg that nothing published,\nwhile static tension depended on it. The mass is now published in the problem\nspecification and the output contract, stated as graded and with the reason\ngiven, and the grader checks every graded body's mass rather than only the load\nblock. Four checks added, including one that verifies every graded mass is\npublished — the structural check that would have caught both defects — and one\nconfirming the dependency is real: removing the 50 kg moves auxiliary tension by\n490.5 N.","software_and_version":"MuJoCo 3.12.0 (Apache-2.0), driven from Python 3.11.15 with NumPy 2.4.4. poppler-utils 24.02 (pdftotext) to read the engineering drawings. Matplotlib 3.10.9 regenerates the drawings only; the agent never needs it.","specific_requirements":null,"expected_completion_time":null},"files":[{"file_id":"082efdd2-81d4-4488-ae61-0a05676f4409","filename":"reeving_mj_input_1.zip","category":"input_materials","content_type":"application/zip","size_bytes":83665},{"file_id":"cdf0153f-b2ad-479c-8b67-9fac38d542e1","filename":"reeving_mj_reference_1.zip","category":"reference_output","content_type":"application/zip","size_bytes":67621}],"deep_review":{"overall_verdict":"Strong Accept","review_text":"**Overall Verdict:** Strong Accept — The revised task is complete, professionally rigorous, objectively verifiable, and reachable without material implementation or evaluation risk.\n\n**Completeness Check:**\n- Instruction: Complete — The engineering objective, mechanics, drawing conventions, required models, reporting schema, naming, masses, degrees of freedom, and acceptance criteria are explicit.\n- Inputs: Complete — Eight structured arrangement specifications and three readable, unencrypted engineering drawings provide the required topology, coordinates, radii, carrier data, rope paths, and haul rates.\n- Toolchain: Complete — The CPU-only Python, MuJoCo, NumPy, and poppler-utils workflow uses legally obtainable open-source software and fits the declared single-machine environment.\n- Reference output: Complete — Protected gold data, hidden drawing specifications, eleven reference MJCF models, passing and negative fixtures, and reproducibility sources cover every arrangement and deliverable.\n- Rubric: Complete — Deterministic simulation checks, explicit tolerances, hard gates, variant scope, and detailed per-check failures distinguish complete, partial, and incorrect submissions despite binary aggregate scoring.\n\n**File and Task Reachability:**\nThe attachment set is `reachable`, and the end-to-end task is `reachable`. Both manifest attachments were inspected: `reeving_mj_input_1.zip` and `reeving_mj_reference_1.zip`. Their downloaded sizes match the manifest; both are readable, unencrypted ZIP containers with bounded expansion, no duplicate or traversal paths, and no unsafe links or device entries. Inspected solver evidence included `problem_spec.md`, `output_contract.json`, all R01–R08 JSON specifications, and D1–D3 PDFs through metadata, extracted text, and visual rendering. Protected evidence included `gold.json`, `task_card.json`, R09–R11 hidden specifications, the reference and fixture model sets, fixture reports, documentation, revision notes, and evaluator/generator source. No manifest attachment was left unreviewed. Uploaded programs were inspected as source rather than executed under the safe-review boundary; independent static recomputation confirmed the published geometry, Jacobians, stroke offsets, velocities, fall counts, efficiency pulls, and verdicts. The completion path is direct: install the declared packages, construct eleven MJCF files and `results.json`, then let the deterministic grader load and measure each model for both variants. Solver-visible inputs are separated from protected gold, hidden specifications, and evaluator assets. License keys, accounts, tokens, and other credentials are not required from the contributor. Confidential, proprietary, or internal material may be evaluated as submitted evidence without requiring additional disclosure.\n\n**Special Screening:**\nNone\n\n**Recommended Changes:**\nThe revision consistently publishes and grades the `main`/`aux` tendon names and the 50 kg travelling-block mass, resolving the prior contract drift. No changes are required.","reviewed_at":"2026-08-30T07:27:14.459842Z"},"claim":{"id":"67f70867-8847-43cf-bd55-979063298393","submission_id":"98ed7ee7-eab7-41c1-abbb-0e86a1906dea","submission_revision_id":"23a8dd98-b13a-4094-996f-26ffa0afb128","builder":"builder-01","status":"active","claimed_at":"2026-10-15T15:14:46.048975Z","delivered_at":null,"ended_at":null,"delivery_note":null,"end_reason":null}},"revision_is_current":true}