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OMNISIM

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simulator

The open-source robotics simulator built by OmniLink — the first simulator designed around agentic authoring and runtime control. Describe what you want; an agent builds the world, the controllers, and the bridges for you.

Clone on GitHub Read the README →

01 · Watch

A taste of OmniSim in motion.

Agent-authored worlds, headless validation, runtime control — captured from worlds that ship in the current release.

Warehouse demo — a Husky navigating pallets and crates, authored conversationally by an agent.

02 · What’s inside

Four pieces. One simulator.

A physics engine, a fleet of robots, an authoring harness, and HTTP bridges — stitched together for agents.

Full robot simulation

ODE physics, OpenGL/Wren graphics, a complete sensor suite, joints and actuators — everything Webots ships with.

Lidar · Camera · IMU · GPS

60+ robots, ready to drive

Husky, UR5e, e-puck, hexapods, drones, vehicles — plus your own URDF imports. Pick one by name; an agent wires the controller.

Pick by name · agent wires the controller

Procedural worlds

Mars, forest, desert, urban, warehouse, indoor — generated deterministically from a seed. Same recipe, same world, every time.

omniworld · invoked by name, not by editing

Agent-native runtime

Headless execution, HTTP bridge on 127.0.0.1:6060, structured diagnostic codes — no flaky GUI waits, no .wbt archaeology.

PROTO_NOT_FOUND · WORLD_PARSE_*

03 · How you use it

Conversational. Not procedural.

No .wbt archaeology. No hand-wired controllers. Talk to your agent and let it author, iterate, and hand off.

  1. 01

    Describe the scene

    Tell your building agent what you want — terrain, robots, sensors, goal. It picks or generates the world and wires up controllers.

    “A Husky exploring a warehouse with three obstacles.”

  2. 02

    Iterate by talking

    Ask for changes. The agent edits files, hot-reloads, and re-runs in ~600 ms — tight enough for trial-and-error on a perception loop.

    “Swap to Mars terrain and add a second arm.”

  3. 03

    Hand off to runtime

    Once the scene is alive, OmniLink agents drive the robots over local HTTP bridges — reasoning about tasks and operating the system in real time.

    curl http://127.0.0.1:6060/state

04 · Open source

Open source. Free, forever.

OmniSim is built on top of Webots (originally developed at EPFL and later by Cyberbotics Ltd, open-sourced under Apache 2.0 in December 2018) and adds OmniLink’s agentic authoring layer on top. Ship it in commercial or academic work with attribution preserved — the bridge protocol, world recipes, and agent harness are all public.

omnilink-tech/omnisimGitHub AGENTS.mdFor coding agents Developer quickstart5 min Report a bugIssues

Show us what you can build.

Clone, build, and launch the warehouse Husky demo with one command. Then point your OmniLink agent at it and watch the robot move on its own.

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