OMNISIM

Talk to a
simulator

OmniSim is a free, Apache-2.0 robotics simulator built for coding agents. Download the Windows beta, run a real pick-and-place scene, then ask your agent to change it. The same live simulator is inspectable through HTTP/JSON, MCP, and ROS 2 — with CPU physics by default and optional GPU training.

Download OmniSim Take the 20-minute challenge →

01 · How it works

Download. Run. Change something.

Windows has a downloadable beta. Linux has a verified source build; macOS is not supported.

First success on Windows

# Install the latest Windows release, then
# open a terminal in the OmniSim folder.

omnisim.bat doctor

omnisim.bat demo

Then give your agent one job

# Open the folder in a coding agent that reads
# AGENTS.md, then ask:

Add a blue cylinder beside the place table in
the OmniArm 6 real pick-and-place demo, run a
load check, and show me a screenshot.

# The agent edits, loads, frames and verifies.

On Linux, use python -m omnisim doctor and python -m omnisim demo after the verified Ubuntu bootstrap. doctor reports what this installation actually is rather than what it should be. Newton is the only physics backend. Its CPU MuJoCo path is the default and requires no GPU; MuJoCo-Warp is available for CUDA batching and training.

02 · Choose a path

Start with the interface you already use.

Every path reaches the same running scene and the same measurable state.

Coding agent or MCP client

Let AGENTS.md guide a coding agent, or connect the first-party omnisim-mcp server. Load worlds, inspect geometry, frame cameras, step physics and collect evidence without clicking through the simulator UI.

HTTP/JSON · MCP · screenshots · diagnostics

ROS 2 developer

Use the simulation_interfaces sidecar, standard topics, or the verified ros2_control Husky diff-drive example. Nav2 and MoveIt are not yet demonstrated, so the boundary is explicit.

simulation_interfaces · ros2_control · /clock

Bring your own robot

Import a URDF, convert a STEP assembly, or ask OmniLink to port one bounded lab task. Keep the first experiment small, measurable and reproducible; failed compatibility checks are published as results too.

URDF · STEP · reproducible lab pilots

03 · Open source

Apache 2.0. Free, forever.

OmniSim is distributed under the Apache License 2.0 at github.com/omnilink-tech/omnisim. It is an independent fork of Webots, not affiliated with or endorsed by Cyberbotics; upstream copyright is preserved. Ship it in commercial or academic work — the protocol, world recipes, and agent harness are all public. Open code, protected brand: the OmniSim name and orb mark are trademarks, so rename a modified fork.

omnilink-tech/omnisimGitHub AGENTS.mdFor coding agents PROTOCOL.mdHTTP/JSON spec Developer quickstartBuild setup

Run one demo. Tell us what breaks.

We are looking for the first ten external developers willing to spend 20 minutes installing OmniSim, running the real friction-grasp demo, and asking a coding agent to change the scene. A failed install with doctor output is useful beta evidence too.