Getting it into your agent
One page per mod, every tool's command on it. A separate URL per tool would split the same page into five that compete with each other.
npx agentmods add skills/horizonrobotics/embodiedgen/sim-runnernpx skills add HorizonRobotics/EmbodiedGen --skill sim-runnergit clone --depth 1 https://github.com/HorizonRobotics/EmbodiedGenWrote 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.
[](https://agentmods.dev/skills/horizonrobotics/embodiedgen/sim-runner)<a href="https://agentmods.dev/skills/horizonrobotics/embodiedgen/sim-runner"><img src="https://agentmods.dev/badge/skills/horizonrobotics/embodiedgen/sim-runner.svg" alt="Measured on agentmods" height="20"></a>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 | $0.00053 | $0.00642 |
| Opus 5 | $0.00026 | $0.00321 |
| Sonnet 5 | $0.00011 | $0.00128 |
| Haiku 4.5 | $0.00005 | $0.00064 |
Grade A, and why
sim-runner 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 4d 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.
How it starts
The opening of the file, as written. The whole thing — 72 lines — stays where its author put it; the contents beside it link to each section on GitHub.
Sim Runner
Unified entry for EmbodiedGen simulation rendering via sim-cli.
When To Use
Use this skill when users want to:
- Load a generated
layout.jsoninto simulation. - Render interactive scene videos (foreground + 3DGS background composition).
- Adjust camera, rendering, or simulation-step parameters.
- Include robot grasp trajectory rendering with
--insert_robot.
Routing Rule (Core)
Use sim-cli when the input is an existing layout result (especially layout.json) and the target output is simulation visualization (e.g., Iscene.mp4), not generation of new assets/backgrounds/layouts.
Pre-checks
- Run commands from the repository root.
- Confirm the active environment is
embodiedgen. - Confirm input
--layout_pathexists and points to a valid layout output. - Ensure referenced background and asset files in the layout directory are present.
- If CLI commands are unavailable, run
pip install -e .to register entrypoints.
Standard Command Template
sim-cli \
--layout_path "outputs/layouts_gen/task_0000/layout.json" \
--output_dir "outputs/layouts_gen/task_0000/sapien_render" \
--insert_robot
Common Parameters
--layout_path: input layout file path.--output_dir: output directory for rendered video.--insert_robot: render robot grasp actions for manipulated objects.--sim_freq --control_freq --sim_step: simulation/control timing settings.--render_interval: render every N simulation steps.--num_cameras --camera_radius --camera_height --fovy_deg: camera configuration.--image_hw: output frame size.--render_keys: render channels (requiresForegroundfor final compositing).--ray_tracing: enable/disable ray tracing backend.--device: rendering device (e.g.,cuda).
Output Conventions
Primary output:
<output_dir>/Iscene.mp4
Typical input dependencies resolved from layout directory:
layout.json- background
gs_model.ply - per-object assets referenced by layout
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.
- 4d ago First seen · 72 lines · 53 tokens per session scan A 4630219d662c
sim-runner is a skill published in the GitHub repository HorizonRobotics/EmbodiedGen (648 stars, last pushed 10d ago), licensed Apache-2.0. It adds 53 tokens to every session and 642 once invoked, about $0.0003 per session on Opus 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.
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