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 skills add KevinInoCol/coppeliasim-mcp --skill robot-diferencial-y-sensoresgit clone --depth 1 https://github.com/KevinInoCol/coppeliasim-mcpWrote 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/kevininocol/coppeliasim-mcp/robot-diferencial-y-sensores)<a href="https://agentmods.dev/skills/kevininocol/coppeliasim-mcp/robot-diferencial-y-sensores"><img src="https://agentmods.dev/badge/skills/kevininocol/coppeliasim-mcp/robot-diferencial-y-sensores/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.
<a href="https://agentmods.dev/skills/kevininocol/coppeliasim-mcp/robot-diferencial-y-sensores"><img src="https://agentmods.dev/badge/skills/kevininocol/coppeliasim-mcp/robot-diferencial-y-sensores.svg" alt="Reviewed on agentmods" width="80" 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 5.1 | $0.00117 | $0.01397 |
| Opus 5 | $0.00059 | $0.00698 |
| Sonnet 5 | $0.00023 | $0.00279 |
| Haiku 4.5 | $0.00012 | $0.00140 |
Grade A, and why
robot-diferencial-y-sensores 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 11d 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 — 118 lines — stays where its author put it; the contents beside it link to each section on GitHub.
Robot diferencial y sensores
Las trampas de esta página cuestan horas cada una. Todas están medidas sobre un robot que funciona.
Juntas: el eje y el modo de control
Una junta actúa a lo largo de su propio +Z. Para una rueda que impulsa hacia
+X, el eje tiene que quedar sobre Y, lo que significa rotar la junta entera
(-pi/2 alrededor de X). No es un parámetro de la llamada: es la orientación
del objeto.
Una junta sin modo de control es sorda. Aunque le mandes velocidad, no se
mueve hasta que se le pone dynCtrlMode, que es una propiedad, no un
argumento de la creación. Con el modo de velocidad, el valor es 4 (no 2, que es
lo que uno supondría):
sim.setInt32Property(junta, "dynCtrlMode", sim.jointdynctrl_velocity)
sim.setJointTargetVelocity(junta, 3.0)
Si usas la tool crear_junta del MCP, hace las dos cosas por ti.
Fricción: Bullet lee frictionOld
Bullet 2.7, que es el motor por defecto, obedece bullet.frictionOld, no
bullet.friction. CoppeliaSim expone las dos y cuál manda depende de la
versión de Bullet elegida en la escena. Poner solo bullet.friction no hace
absolutamente nada.
Medido sobre un diferencial real: una rueda loca con la fricción vieja en 1 arrastró al robot al 87% de su distancia en recta y al 51% de su giro, patinando en vez de pivotar sobre el eje motriz. Escribe siempre las dos.
Rueda loca: fricción muy baja. Ruedas motrices: fricción alta.
Masa e inercia
computeMassAndInertia solo funciona con formas convexas. No fusiones el
chasis con la carga y luego lo llames: deja cada pieza convexa por separado y
calcula la masa de cada una.
Sin masa razonable, un robot ligero con ruedas finas tiembla o sale despedido.
Ruedas finas
Las ruedas de 1 cm de espesor son poquísimo para Bullet: el contacto es casi una línea y el robot tiembla. Se compensa con fricción alta y masa suficiente. Si el robot vibra parado, mide la altura del chasis a lo largo del tiempo — si oscila, es esto.
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.
- 11d ago First seen · 118 lines · 117 tokens per session scan A 338bffd4faff
robot-diferencial-y-sensores is a skill published in the GitHub repository KevinInoCol/coppeliasim-mcp (0 stars, last pushed 16d ago), licensed MIT. It adds 117 tokens to every session and 1,397 once invoked, about $0.0006 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 2026-08-31.
Other skills, from other repositories
kernelcad-sdformat
Export multi-part assemblies to SDFormat — closed kinematic loops, native ball joints, solved per-link poses, per-link inertial/visual/collision with mesh files. Use when the downstream simulator ingests SDFormat directly or the assembly needs closed-loop / native-spherical-joint support.
okx-cex-portfolio
This skill should be used when the user asks about 'account balance', 'how much USDT do I have', 'my funding account', 'show my positions', 'open positions', 'position P&L', 'unrealized PnL', 'closed positions', 'position history', 'realized PnL', 'account bills', 'transaction history', 'trading fees', 'fee tier'…
isuzu-unity-cli
Control Unity Editor from the CLI with the isuzu-unity-cli command. Execute C# code, browse scene hierarchy, inspect/modify GameObjects, capture screenshots, read console logs, check compile status, control play mode, and execute menu items. Use when: user wants to interact with Unity Editor programmatically, run C#…
hz-unity-meta-movement-sdk-retargeting
Set up and tweak Meta Movement SDK (MSDK) retargeting for a character model. Use this whenever the user wants to retarget a humanoid FBX/prefab for Meta Quest body tracking, generate a retargeting config, or hand-edit the resulting .json (fix known-joint mappings, exclude joints from auto-mapping, rename target…
hz-unity-face-tracking
Drive ARKit-blendshape-rigged head/face models in Unity with the wearer's facial expressions on Meta Quest via Meta Movement SDK (face tracking + A2E). Use when a user has an FBX with the 52 ARKit blendshapes (any prefix, L/R suffixes) and wants it to animate from face tracking on Quest Pro / Quest 3 / Quest 3S.
metavr-cli
Provides the complete metavr (Meta VR CLI) reference for Meta Quest and Horizon OS development — installation, device setup, command discovery, MCP server mode, documentation search, app deployment, device testing setup, audio control, screenshots, and performance analysis. Use when the user needs to install metavr…