What is SimFoundry AGENTS.md?

A set of instructions for coding agents working on SimFoundry, a system that turns short real-world videos into physics-ready simulated scenes. It explains the project stages, required environment, safe files to edit, and saved-scene rules.

Use it when modifying or reviewing SimFoundry, especially its reconstruction pipeline, scene editing workflow, generated tasks, or simulation outputs.

It prevents agents from missing project-specific assumptions or making changes that silently break later reconstruction, augmentation, or application stages.

How NVlabs/SimFoundry configures Codex and OpenCode

Reuse

Borrowing it

Nothing to install: this file belongs to NVlabs/SimFoundry. Take a copy, put it at the same path in your own repository, and replace the rules that are about this project with yours.

Copy the file

curl -O https://raw.githubusercontent.com/NVlabs/SimFoundry/main/AGENTS.md

Clone the repo

git clone --depth 1 https://github.com/NVlabs/SimFoundry

Made for: Codex, OpenCode.

Wrote this? Show the measurements

A badge with what this costs and how it scanned, read live from this page, so it follows the numbers instead of freezing them. Markdown for a README, HTML for a documentation site or a project page.

README.md

[![agentmods](https://agentmods.dev/badge/instructions/nvlabs/simfoundry/agents-md/github.svg)](https://agentmods.dev/instructions/nvlabs/simfoundry/agents-md)

Your own site

<a href="https://agentmods.dev/instructions/nvlabs/simfoundry/agents-md"><img src="https://agentmods.dev/badge/instructions/nvlabs/simfoundry/agents-md/github.svg" alt="Measured on agentmods" height="20"></a>

Or the 80×15 button, for a site that already has a row of RSS and ATOM ones. Only the verdict fits; the numbers stay here.

Your own site · 80×15

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Per session 4,224 This file is loaded in full into every session.

When invoked 4,224 The same file — it is already loaded in full.

Security scan A 0 findings. A grade says what 26 rules found in the file — not that it is safe.

Origin original No closer match found in the catalogue.

Token cost

What it costs to keep this loaded

Counted locally with the o200k_base tokenizer, which is exact for GPT models; Claude uses its own tokenizer and its counts differ. Treat this as one consistent yardstick across the catalogue rather than a bill. Prices are per million input tokens.

Model	Per session	Once invoked
Fable 5.1	$0.04224	$0.04224
Opus 5.5	$0.01690	$0.01690
Sonnet 5.5	$0.00845	$0.00845
Haiku 4.5	$0.00422	$0.00422

Measured 2mo ago against content hash 3e876c469e0f, method: parsed. Prices are Anthropic first-party input rates as of 2026-10-07, from the pricing page.

Security

Grade A, and why

SimFoundry AGENTS.md scanned grade A with 0 findings against 26 rules in 11 categories — prompt injection, anti-refusal, data exfiltration, privilege escalation, supply chain, agent snooping, system-prompt leakage, SSRF and excessive agency — measured 2mo ago.

A static scan of the body, not an audit. Every finding is printed with the line that produced it so you can judge whether it matters here. A mod is markdown that instructs an agent; that is exactly why what it instructs is worth reading.

Nothing flagged

None of the 26 patterns this scan looks for appear in this file: no shell pipes, no recursive deletes, no credential paths, no hidden text, no instruction-override or anti-refusal phrasing, no agent-config snooping. That is not a guarantee, it is the absence of the things that are checkable.

AGENTS.md · 307 lines

How it starts

The opening of the file, as written. The whole thing — 307 lines — stays where its author put it; the contents beside it link to each section on GitHub.

SimFoundry — agent guide

Orientation for coding agents. This covers what the code does not say out loud: which environment to run in, which trees are safe to edit, and which contracts break silently. For what the project is, read README.md.

What this repo does

SimFoundry turns a short real-world video into a physics-ready OmniGibson scene: segment the objects, reconstruct geometry, generate textured meshes, compile a scene with physical parameters and task proposals. The pipeline runs in three stages under scripts/pipeline/:

Stage	Directory	Produces
A — reconstruction	`A_reconstruction/stages/`	Depth, segmentation, meshes, `s11_sim/scene_objects_info.json`, `s12_physics/pb_scene_poses.json`, an OmniGibson scene
B — augmentation	`B_augmentation/stages/`	Digital-cousin variants, scene sampling, task proposals
C — application	`C_application/stages/`	Teleop, demo generation, policy evaluation

Scene editing sits between B and C: a human corrects what the pipeline got wrong — object poses, scales, cameras — before the scene is used for learning or evaluation. Everything downstream inherits those corrections.

Environments

There are many conda envs on a dev box (3dgrut, da3, hunyuan, …); most belong to a single pipeline stage. For general work:

simfoundry — the main env. OmniGibson, Isaac Sim, torch. Used by the pipeline, the OmniGibson editor, and settle.py. find_settle_python in light_editor/server.py checks that the env's omnigibson resolves inside this repo.
simfoundry-editor — the light editor's env, no GPU. Created by scripts/installation/install_light_editor.sh; re-run that after a pull. See the trap below.

Trap: omnigibson can resolve outside this checkout. An env may carry this repo's simfoundry package but a different clone's OmniGibson. The editor then runs against the wrong deps/ tree and stamps the wrong OmniGibson version into saved scenes. run_editor.sh warns about this at startup; do not ignore it. Check with python -c 'import omnigibson; print(omnigibson.__file__)'.

Read the full file on GitHub · 307 lines

Changes

What this file has done since we first saw it

Hashed on every crawl. A supply-chain change to an agent config is a question of when, not whether, so the history is kept rather than the latest state alone.

2mo ago First seen · 307 lines · 4,224 tokens per session scan A 3e876c469e0f

Subscribe to this mod's changes

SimFoundry AGENTS.md is an instructions file published in the GitHub repository NVlabs/SimFoundry (459 stars, last pushed 2mo ago), licensed Apache-2.0. It adds 4,224 tokens to every session, about $0.0169 per session on Opus 5.5. A static security scan graded it A with 0 findings. No closer match exists in the catalogue, so it is treated as the original; first seen 2026-08-30.

SimFoundry AGENTS.md next to 6 instructions from other repositories
Mod	Type	Stars	Last push	Licence	Scan	Tokens	Works with
SimFoundry AGENTS.mdNVlabs/SimFoundry	Instructions file	459	2mo ago	Apache-2.0	A	4,224	Codex, OpenCode
vscode buildNext.instructions.mdmicrosoft/vscode	Instructions file	195k	yesterday	MIT	A	9,719	GitHub Copilot
next.js AGENTS.mdvercel/next.js	Instructions file	143k	yesterday	MIT	A	7,461	Codex, OpenCode
langchain AGENTS.mdlangchain-ai/langchain	Instructions file	149k	yesterday	MIT	A	4,680	Codex, OpenCode
vscode oss-third-party-notices.instructions.mdmicrosoft/vscode	Instructions file	195k	yesterday	MIT	A	5,516	GitHub Copilot
vscode copilot-instructions.mdmicrosoft/vscode	Instructions file	195k	yesterday	MIT	A	3,093	GitHub Copilot
deepseek-harness AGENTS.mddeepseek-ai/deepseek-harness	Instructions file	274k	2d ago	MIT	A	4,313	Codex, OpenCode

SimFoundry: Instructions file for Codex