What is omnisim-world-builder?

A tool for building and checking OmniSim robotics worlds, including simulated scenes, robots, cameras, contacts, and physics.

Use it to load or edit OmniSim worlds, inspect scene objects, position views, check visibility and geometry, and capture or verify simulation results.

It provides a controlled way to inspect the current simulation, make world changes, and verify object placement and camera framing.

omnisim-world-builder — Skill for Codex by omnilink-tech

Install

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.

Any agent

npx skills add omnilink-tech/omnisim --skill omnisim-world-builder

Clone the repo

git clone --depth 1 https://github.com/omnilink-tech/omnisim

Made for: Codex.

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/skills/omnilink-tech/omnisim/omnisim-world-builder/github.svg)](https://agentmods.dev/skills/omnilink-tech/omnisim/omnisim-world-builder)

Your own site

<a href="https://agentmods.dev/skills/omnilink-tech/omnisim/omnisim-world-builder"><img src="https://agentmods.dev/badge/skills/omnilink-tech/omnisim/omnisim-world-builder/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

<a href="https://agentmods.dev/skills/omnilink-tech/omnisim/omnisim-world-builder"><img src="https://agentmods.dev/badge/skills/omnilink-tech/omnisim/omnisim-world-builder.svg" alt="Reviewed on agentmods" width="80" height="20"></a>

Per session 53 Skills are progressive disclosure: only the name and description are preloaded; the body loads when the skill is used.

When invoked 477 The whole file, excluding the scripts and references it only reads on demand.

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

NVIDIA SkillSpector pass 7 Sept 2026

How audits are shown

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	$0.00053	$0.00477
Opus 5	$0.00026	$0.00238
Sonnet 5	$0.00011	$0.00095
Haiku 4.5	$0.00005	$0.00048

Measured 11d ago against content hash 0371f2c6d29d, method: parsed. Prices are Anthropic first-party input rates as of 2026-09-10, from the pricing page.

Security

Grade A, and why

omnisim-world-builder 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.

plugins/omnisim/skills/omnisim-world-builder/SKILL.md · 47 lines

What it actually says

OmniSim World Builder

Use the omnisim MCP server as the live control surface. It proxies a local OmniSim World Harness and does not send simulation data to OmniLink.

Start from measured state

Call harness_status first. If it is unreachable, tell the user to run:

python -m omnisim harness

The omnisim-mcp command must also be installed or available from the packages/omnisim-mcp source package. Do not invent scene state while the harness is unavailable.

Author and verify a world

Inspect the requested world and related controller files before editing.
Use .omniworld for new OmniSim worlds. Existing .wbt worlds remain readable, but do not give new files the legacy extension.
Call load_world with light: true. After an edit, call it again: the tool safely live-applies proven root-DEF pose changes and automatically reloads structural edits. Use force_reload only when a controller restart or full reparse is intentional.
Verify placement with get_scene_tree or get_scene_node, using geometric bounds when framing or spatial relationships matter.
Use frame to aim at a DEF instead of guessing camera coordinates. Confirm framing with visible, then capture a screenshot when visual evidence is useful.
Step the simulation only as far as the requested behavior requires. Inspect get_events, get_diagnostics, robot joints, and contacts for numeric evidence. A clean screenshot alone does not prove the physics is correct.

Report honestly

Distinguish a world that loaded from a behavior that was physically verified. Name the check you performed and any remaining limitation. In particular, do not describe OmniSim's weight-bearing G1 walk as free-standing, and do not make sim-to-real claims without physical-robot evidence.

Files

What ships with it

1 file beside SKILL.md in the same directory: the scripts, references and assets a skill reads on demand. Not counted in the per-session cost; read them before you install if any of them is executable.

agents/openai.yaml 207 B

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.

11d ago First seen · 47 lines · 53 tokens per session scan A 0371f2c6d29d

Subscribe to this mod's changes

omnisim-world-builder is a skill published in the GitHub repository omnilink-tech/omnisim (161 stars, last pushed 7d ago), licensed Apache-2.0. It adds 53 tokens to every session and 477 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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