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 robium-ai/robium --skill mujocogit clone --depth 1 https://github.com/robium-ai/robiumWrote 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/robium-ai/robium/mujoco)<a href="https://agentmods.dev/skills/robium-ai/robium/mujoco"><img src="https://agentmods.dev/badge/skills/robium-ai/robium/mujoco/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/robium-ai/robium/mujoco"><img src="https://agentmods.dev/badge/skills/robium-ai/robium/mujoco.svg" alt="Reviewed on agentmods" width="80" height="20"></a>- NVIDIA SkillSpector warn
SkillSpector: 6 findings, up to high
These are SkillSpector’s own severities. On a checked sample its high-severity flags on skills were ~96% false positives — a documented command, a public API, a “never do X” rule — so we show them as a caution to read, not a verdict. Why →
- high Prompt Injection · line 70 Hidden instructions were detected in comments or invisible text. These could contain malicious directives. Manual review is recommended.Fix: Audit all comments and invisible characters. Remove any instructions that direct the agent to perform unauthorized actions. Use plain, reviewable content.
- high Prompt Injection · line 87 Hidden instructions were detected in comments or invisible text. These could contain malicious directives. Manual review is recommended.Fix: Audit all comments and invisible characters. Remove any instructions that direct the agent to perform unauthorized actions. Use plain, reviewable content.
- high Prompt Injection · line 129 Hidden instructions were detected in comments or invisible text. These could contain malicious directives. Manual review is recommended.Fix: Audit all comments and invisible characters. Remove any instructions that direct the agent to perform unauthorized actions. Use plain, reviewable content.
- high Prompt Injection · line 141 Hidden instructions were detected in comments or invisible text. These could contain malicious directives. Manual review is recommended.Fix: Audit all comments and invisible characters. Remove any instructions that direct the agent to perform unauthorized actions. Use plain, reviewable content.
- high Prompt Injection · line 156 Hidden instructions were detected in comments or invisible text. These could contain malicious directives. Manual review is recommended.Fix: Audit all comments and invisible characters. Remove any instructions that direct the agent to perform unauthorized actions. Use plain, reviewable content.
- high Prompt Injection · line 191 Hidden instructions were detected in comments or invisible text. These could contain malicious directives. Manual review is recommended.Fix: Audit all comments and invisible characters. Remove any instructions that direct the agent to perform unauthorized actions. Use plain, reviewable content.
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 | $0.00016 | $0.00521 |
| Opus 5 | $0.00008 | $0.00260 |
| Sonnet 5 | $0.00003 | $0.00104 |
| Haiku 4.5 | $0.00002 | $0.00052 |
Grade A, and why
mujoco 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 2d 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 — 54 lines — stays where its author put it; the contents beside it link to each section on GitHub.
MuJoCo
A plausible render proves little by itself. Follow the physical chain from model through kinematics, actuation, contact, and observation.
Start from the model
- Read the MJCF and the pinned asset revision before adding control code. Check joint ranges, actuator limits, collision geometry, sites, masses, and the intended work surface.
- Prefer a maintained model from MuJoCo Menagerie, but verify it against the real robot and task envelope.
- Confirm gripper polarity, fingertip gap, and contact geometry empirically. Names and documentation can disagree with the model that actually runs.
- Use the current MuJoCo documentation for MJCF and Python APIs rather than carrying signatures forward from memory.
Follow the physical chain
- Kinematics: solve only for reachable targets and check the residual; damped least-squares can return a poor local solution without raising.
- Actuation: compare commanded position or torque with joint state, actuator force, range limits, and saturation.
- Contact: inspect which geoms belong to the gripper and object. Unnamed mesh geoms make name-only contact filters unsafe.
- Grasp: calibrate the grasp point, approach path, wrist orientation, and lift together. The end-effector site is not automatically the physical pinch point.
- Observation: make cameras and renderer lifecycle deterministic before using frames as training or regression data.
Go deeper only when needed
- For reachability, collision, grasp, saturation, and rendering symptoms, read FAILURES.md.
- For the measured SO-arm and macOS evidence from Robium's manipulation trial, read SO-ARM-MACOS.md. Preserve its numbers only with the stated model, scene, hardware, and renderer conditions.
- Use LeRobot guidance when the boundary reaches datasets, policies, or evaluation; use simulator-selection guidance when MuJoCo itself has not yet been chosen.
What ships with it
2 files 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.
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.
- 2d ago Changed · -207 lines · -246 tokens per session 29b0e456d51e
- 6d ago First seen · 261 lines · 262 tokens per session scan A f9b1fca694d1
mujoco is a skill published in the GitHub repository robium-ai/robium (10 stars, last pushed 2d ago), licensed MIT. It adds 16 tokens to every session and 521 once invoked, about $0.0001 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 2026-09-03.
Other skills, from other repositories
urdf-to-mjcf
Use when bringing a URDF robot, hand, or CAD-generated model into MuJoCo MJCF and no hand-tuned upstream MJCF exists.
neuroskill-bci
Use live BCI cognitive and mood state from NeuroSkill.
ruview-applications
Run RuView sensing applications — presence/occupancy, breathing & heart rate, activity & fall detection, 17-keypoint pose estimation (WiFlow), sleep monitoring & apnea screening, environment mapping, Mass Casualty Assessment (MAT), and the 3D point-cloud fusion demo. Use when someone wants to actually do something…
lab-hardware-cad
Design custom laboratory hardware as parametric build123d models and export fabrication-ready STEP, STL, and DXF files - microfluidic chips and molds, optomechanical mounts and breadboard adapters, cuvette and microplate holders, tube racks, animal-behavior rigs, and 3D-printed instrument fixtures. Use when a research…
calibrate-room
Run the ADR-151 per-room calibration pipeline — baseline → enroll → extract → train → a bank of small specialists (presence/posture/breathing/heartbeat/restlessness/anomaly).
i4h-catheter-navigation
Overview of workflows/catheternavigation/ (fluorosim DRR, XPBD physics, vasculature digital twin). Use when the user asks what the catheter navigation workflow is, what's supported, or where to start.