Skillcommunitygpt-5.6-sol

Slithering Robot Snake Prototype

A ten-link robot snake, about 0.95 m long, with nine yaw joints: a CAD assembly, robot description files, and a MuJoCo simulation where it slithers with lateral undulation, notices an obstacle with a range sensor, detours around it without touching it, and rejoins its route. Twelve tests check the geometry, joints, gait and clearance.

By PossibleMade with CAD, Step Parts, CAD Viewer, Robotics Design Patterns, Robotics Testing
Remix
MuJoCo simulation, 190 simulated seconds shown in 18: lateral undulation, a range-triggered detour around a cylinder, and rejoining the route with no contact. Propulsion uses a simulated surrogate.
Recorded from session

How it was made

Captured locally, then reviewed and possibly edited by the creator. This is a shared recipe, not an unedited transcript. Copy this text kit to your agent to adapt it.

  • Tool outputs and file contents were omitted. Unknown ingredients are not inferred.
  • User prompts came from response items; recognized harness instruction envelopes were omitted.
  • Historical skill repository revisions are unknown unless explicitly recorded; current checkouts were not inspected.
  • 8 reference ingredients were detected; only shareable URLs retained below are included.
  • 21 skill loads were detected; only complete, shareable repository and version coordinates retained below are included.
  • The answers were given by a scripted test run of the $possible skill, not typed live. The agent ran under Codex with file, shell and web tools; four helper agents built parts of the project in parallel.

Models

  • gpt-5.6-sol · openai · execution · Codex
  • gpt-5.6 · openai · execution · Codex

Agent

Codex

Pinned skills

Tools and APIs

  • MuJoCo ↗

    Physics simulation of slithering and obstacle avoidance.

  • NumPy

    Gait and controller maths in the simulation scripts.

  • pytest

    Ran the 12 tests covering geometry, joints, gait and obstacle clearance.

  • Web search

    Looked up MuJoCo XML details (rangefinder sensors, contact and actuator settings, rendering).

  • Image viewer

    Inspected rendered CAD snapshots and simulation frames.

Ordered steps

  1. Ask $possible for a robot snake

    Invoke the $possible skill with the idea. It asks a few questions before preparing the build.

    $possible

I want to make a robot snake.

  2. Say what it should do

    Say what it should do

    I want it to slither convincingly and navigate around obstacles on its own.

  3. Describe the environment

    Describe the environment

    A smooth indoor floor.

Continue from my previous answer.

  4. Say where you are starting from

    Say where you are starting from

    I am starting from scratch. I only have the idea.

  5. Choose the result you want

    Answer its last question and accept the pack it proposes. The agent then builds the CAD, robot description, simulation and tests.

    A convincing digital prototype I can inspect and simulate now, with a clear path toward fabricating it later.

Yes, proceed with this pack.

About

A ten-link robot snake, about 0.95 m long, with nine yaw joints: a CAD assembly, robot description files, and a MuJoCo simulation where it slithers with lateral undulation, notices an obstacle with a range sensor, detours around it without touching it, and rejoins its route. Twelve tests check the geometry, joints, gait and clearance.

How it was made

An AI agent made this. Codex built it in one recorded session, starting from the $possible skill: it asked what to build, how it should behave, where, and what result was wanted, then prepared a build pack. The answers in this recipe came from a scripted test run, not typed live. The agent used the text-to-cad and robotics skills listed below, MuJoCo for simulation and pytest for checks. Possible captured the session with possible capture; tool outputs and file contents are left out.

What to know

This is a digital prototype. Propulsion in the simulation uses a surrogate, so real-world slithering, servo choice, friction, strength and manufacturability are unproven. The video and renders were regenerated from the session's own files after the originals were lost; link count, joints, tests and simulated distances match the session's report.

Exact prompt

Hidden characters, if present, appear as Unicode escapes
$possible

I want to make a robot snake.

I want it to slither convincingly and navigate around obstacles on its own.

A smooth indoor floor.

Continue from my previous answer.

I am starting from scratch. I only have the idea.

A convincing digital prototype I can inspect and simulate now, with a clear path toward fabricating it later.

Yes, proceed with this pack.

Skills used

Technical details and provenance
Provider
openai
Model
gpt-5.6-sol
Agent
Codex
Published
Publication
community