MCP Server Builder
anthropics/skills
Guides the design and implementation of Model Context Protocol servers in TypeScript or Python, from tool naming and error messages to evaluation.
Build, inspect, run, and debug OmniSim robotics worlds through the first-party MCP tools.
Install Omnisim World Builder
$ npx skills add omnilink-tech/omnisim --skill omnisim-world-builder -a claude-codeProject install by default; add -g for ~/.claude/skills/.
$ gh skill install omnilink-tech/omnisim omnisim-world-builder --agent claude-codeProject scope by default; add --scope user for a personal install. Needs GitHub CLI 2.90.0 or later (public preview).
$ git clone --depth 1 https://github.com/omnilink-tech/omnisim.git skills-src && mkdir -p .claude/skills && cp -r skills-src/plugins/omnisim/skills/omnisim-world-builder .claude/skills/omnisim-world-builder && rm -rf skills-srcUse ~/.claude/skills/ instead of .claude/skills for a personal install. The folder must contain SKILL.md.
Claude Code skills documentation · loads skills from .claude/skills/
Install the "omnisim-world-builder" agent skill from https://github.com/omnilink-tech/omnisim/tree/main/plugins/omnisim/skills/omnisim-world-builder into .claude/skills/omnisim-world-builder/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "omnisim-world-builder", then confirm the skill loads.Claude Code copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.
$skill-installer install https://github.com/omnilink-tech/omnisim/tree/main/plugins/omnisim/skills/omnisim-world-builderType this inside Codex. $skill-installer <name> installs a curated skill from openai/skills. The installer writes to $CODEX_HOME/skills (default ~/.codex/skills). Restart Codex if the skill does not show up.
$ npx skills add omnilink-tech/omnisim --skill omnisim-world-builder -a codexProject install goes to .agents/skills/; add -g for ~/.codex/skills/.
$ gh skill install omnilink-tech/omnisim omnisim-world-builder --agent codexProject scope by default (.agents/skills/); add --scope user for a personal install.
$ git clone --depth 1 https://github.com/omnilink-tech/omnisim.git skills-src && mkdir -p .agents/skills && cp -r skills-src/plugins/omnisim/skills/omnisim-world-builder .agents/skills/omnisim-world-builder && rm -rf skills-srcUse ~/.agents/skills/ instead of .agents/skills for a personal install.
Codex skills documentation · loads skills from .agents/skills/
Install the "omnisim-world-builder" agent skill from https://github.com/omnilink-tech/omnisim/tree/main/plugins/omnisim/skills/omnisim-world-builder into .agents/skills/omnisim-world-builder/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "omnisim-world-builder", then confirm the skill loads.Codex copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.
$ npx skills add omnilink-tech/omnisim --skill omnisim-world-builder -a cursorProject install goes to .agents/skills/; add -g for ~/.cursor/skills/.
$ gh skill install omnilink-tech/omnisim omnisim-world-builder --agent cursorProject scope by default (.agents/skills/); add --scope user for a personal install.
$ git clone --depth 1 https://github.com/omnilink-tech/omnisim.git skills-src && mkdir -p .cursor/skills && cp -r skills-src/plugins/omnisim/skills/omnisim-world-builder .cursor/skills/omnisim-world-builder && rm -rf skills-srcUse ~/.cursor/skills/ instead of .cursor/skills for a personal install.
Cursor skills documentation · loads skills from .cursor/skills/, .agents/skills/, .claude/skills/, .codex/skills/
Install the "omnisim-world-builder" agent skill from https://github.com/omnilink-tech/omnisim/tree/main/plugins/omnisim/skills/omnisim-world-builder into .cursor/skills/omnisim-world-builder/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "omnisim-world-builder", then confirm the skill loads.Cursor copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.
$ gemini skills install https://github.com/omnilink-tech/omnisim.git --path plugins/omnisim/skills/omnisim-world-builder--scope user (default) or --scope workspace; --path is the subfolder of the repo that holds the skill; --consent skips the security confirmation prompt.
$ npx skills add omnilink-tech/omnisim --skill omnisim-world-builder -a gemini-cliProject install goes to .agents/skills/; add -g for ~/.gemini/skills/.
$ gh skill install omnilink-tech/omnisim omnisim-world-builder --agent gemini-cliProject scope by default (.agents/skills/); add --scope user for a personal install.
$ git clone --depth 1 https://github.com/omnilink-tech/omnisim.git skills-src && mkdir -p .gemini/skills && cp -r skills-src/plugins/omnisim/skills/omnisim-world-builder .gemini/skills/omnisim-world-builder && rm -rf skills-srcUse ~/.gemini/skills/ instead of .gemini/skills for a personal install, then run /skills reload.
Gemini CLI skills documentation · loads skills from .gemini/skills/, .agents/skills/
Install the "omnisim-world-builder" agent skill from https://github.com/omnilink-tech/omnisim/tree/main/plugins/omnisim/skills/omnisim-world-builder into .gemini/skills/omnisim-world-builder/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "omnisim-world-builder", then confirm the skill loads.Gemini CLI copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.
$ gh skill install omnilink-tech/omnisim omnisim-world-builderInstalls for Copilot at project scope by default; add --scope user for a personal install. Preview a skill first with gh skill preview. Needs GitHub CLI 2.90.0 or later (public preview).
$ npx skills add omnilink-tech/omnisim --skill omnisim-world-builder -a github-copilotProject install goes to .agents/skills/; add -g for ~/.copilot/skills/.
$ git clone --depth 1 https://github.com/omnilink-tech/omnisim.git skills-src && mkdir -p .github/skills && cp -r skills-src/plugins/omnisim/skills/omnisim-world-builder .github/skills/omnisim-world-builder && rm -rf skills-srcUse ~/.copilot/skills/ instead of .github/skills for a personal install. Commit .github/skills so cloud agent and code review can use it.
GitHub Copilot skills documentation · loads skills from .github/skills/, .claude/skills/, .agents/skills/
Install the "omnisim-world-builder" agent skill from https://github.com/omnilink-tech/omnisim/tree/main/plugins/omnisim/skills/omnisim-world-builder into .github/skills/omnisim-world-builder/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "omnisim-world-builder", then confirm the skill loads.GitHub Copilot copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.
$ npx skills add omnilink-tech/omnisim --skill omnisim-world-builder -a opencodeOpenCode documents no install command of its own. Project install goes to .agents/skills/; add -g for ~/.config/opencode/skills/.
$ gh skill install omnilink-tech/omnisim omnisim-world-builder --agent opencodeProject scope by default (.agents/skills/); add --scope user for a personal install.
$ git clone --depth 1 https://github.com/omnilink-tech/omnisim.git skills-src && mkdir -p .opencode/skills && cp -r skills-src/plugins/omnisim/skills/omnisim-world-builder .opencode/skills/omnisim-world-builder && rm -rf skills-srcUse ~/.config/opencode/skills/ instead of .opencode/skills for a personal install.
OpenCode skills documentation · loads skills from .opencode/skills/, .claude/skills/, .agents/skills/
Install the "omnisim-world-builder" agent skill from https://github.com/omnilink-tech/omnisim/tree/main/plugins/omnisim/skills/omnisim-world-builder into .opencode/skills/omnisim-world-builder/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "omnisim-world-builder", then confirm the skill loads.OpenCode copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.
Facts
- Skill name
omnisim-world-builder- GitHub stars
- 187
- Token cost
- ~529 tokens
- SKILL.md length
- 260 words
- Files
- 2
- Skills in repo
- 1
- Repo updated
- First seen
- Licence
- Apache-2.0
At a glance
Build, inspect, run, and debug OmniSim robotics worlds through the first-party MCP tools.
- Works in 6 steps: Inspect the requested world and related… → Use .omniworld for new OmniSim worlds.… → Call load_world with light: true. After… → …
- Requests involving OmniSim scenes
- SKILL.md covers Start from measured state, Author and verify a world and Report honestly
- Calls python
What it does
Omnisim World Builder is an agent skill from omnilink-tech/omnisim. Build, inspect, run, and debug OmniSim robotics worlds through the first-party MCP tools. Use for requests involving OmniSim scenes, robots, cameras, contacts, physics checks, or screenshots; do not use for unrelated simulators.
Its SKILL.md is about 530 tokens, which your agent loads only when the skill is triggered. The skill folder holds 2 other files (for example `agents/openai.yaml`).
It sits in Agent Workflows, covering MCP servers. It works with Model Context Protocol. The repository describes itself as: Open-source robotics simulator for coding agents: HTTP/JSON + MCP control, Newton physics, wgpu rendering, ROS 2, and reproducible benchmarks. The licence is Apache-2.0.
When your agent uses it
- Requests involving OmniSim scenes
- Do not use for unrelated simulators
Example prompts
- “/omnisim-world-builder”
Requirements
- Python 3
Workflow steps
6 steps, taken from the first numbered list in SKILL.md.
- Inspect the requested world and related controller files before editing.
- Use .omniworld for new OmniSim worlds. Existing .wbt worlds remain
- Call load_world with light: true. After an edit, call it again: the tool
- Verify placement with get_scene_tree or get_scene_node, using geometric
- Use frame to aim at a DEF instead of guessing camera coordinates. Confirm
- Step the simulation only as far as the requested behavior requires. Inspect
What it can do on your machine
Read from SKILL.md and the folder at commit 531d349. It shows what the files ask for, not the result of running them.
Tool permissions
Pre-approves nothing: there is no allowed-tools line, so your agent's usual permission prompts apply.
From allowed-tools in the SKILL.md frontmatter.
Runs code
Shell commands in SKILL.md call:
python
From the folder's file list and the shell code blocks in SKILL.md.
Network
No URLs in SKILL.md.
From URLs in SKILL.md, links to its own repository left out.
Credentials
Names no API keys, tokens, secrets or passwords.
From names ending in _API_KEY, _TOKEN, _SECRET, _KEY or _PASSWORD in SKILL.md.
Context cost
Omnisim World Builder loads about 529 tokens when it runs. Until then it costs about 63 tokens; SKILL.md has 260 words of instructions outside code blocks.
Estimates: characters ÷ 4, the usual rule of thumb; real counts depend on the model's tokenizer. Scripts and assets cost tokens only if the agent reads them.
Safety
Auto-check passed
The automated check found no risky patterns in SKILL.md.
Automated static check — not a guarantee. Review scripts before installing. It scans the text of SKILL.md for risky patterns (piping downloads into a shell, reading credential files, hidden Unicode, destructive commands); files beside SKILL.md are not scanned.
SKILL.md
The full file from omnilink-tech/omnisim at commit 531d349, republished under its Apache-2.0 licence (© omnilink-tech). 260 words, ~529 tokens.
Download SKILL.mdSave it as
.claude/skills/omnisim-world-builder/SKILL.md (or your agent's skills folder). This skill also uses 1 other file; get the full folder from GitHub.- name
- omnisim-world-builder
- description
- Build, inspect, run, and debug OmniSim robotics worlds through the first-party MCP tools. Use for requests involving OmniSim scenes, robots, cameras, contacts, physics checks, or screenshots; do not use for unrelated simulators.
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 harnessThe 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
.omniworldfor new OmniSim worlds. Existing.wbtworlds remain readable, but do not give new files the legacy extension. - Call
load_worldwithlight: true. After an edit, call it again: the tool safely live-applies proven root-DEF pose changes and automatically reloads structural edits. Useforce_reloadonly when a controller restart or full reparse is intentional. - Verify placement with
get_scene_treeorget_scene_node, using geometric bounds when framing or spatial relationships matter. - Use
frameto aim at a DEF instead of guessing camera coordinates. Confirm framing withvisible, then capture ascreenshotwhen 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.
© omnilink-tech, Apache-2.0. Rendered from Markdown: HTML in the file is shown as text, images as links, and headings moved down two levels. Raw file
Files
SKILL.md and 1 other file in plugins/omnisim/skills/omnisim-world-builder of omnilink-tech/omnisim.
- SKILL.md
- agents/openai.yaml
Open the folder on GitHubat commit 531d349
Compare with similar skills
Omnisim World Builder next to the 5 skills that share the most tags, products or categories with it. Stars are the repository's; “used in” counts other GitHub owners with a copy.
| Skill | Stars | Used in | Tokens | Auto-check | Licence | Repo updated |
|---|---|---|---|---|---|---|
| Omnisim World Builder this skillomnilink-tech/omnisim | 187 | — | ~529 | Automated safety check: Pass | Apache-2.0 | |
| MCP Server Builderanthropics/skills | 180k | 63 repos | ~2.3k | Automated safety check: Pass | Apache-2.0 | |
| MCP Server BuildershareAI-lab/learn-claude-code | 78k | 4 repos | ~1.2k | Automated safety check: Pass | MIT | |
| MCP Integration for Pluginsanthropics/claude-plugins-official | 38k | 11 repos | ~3.1k | Automated safety check: Pass | Apache-2.0 | |
| Crush Configurationcharmbracelet/crush | 29k | — | ~3.7k | Automated safety check: Pass | Custom licence | |
| Context Mode Output Sandboxmksglu/context-mode | 26k | — | ~4.1k | Automated safety check: Pass | Custom licence |
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- Official
MCP Server Builder
shareAI-lab/learn-claude-code
Walks through building MCP servers in Python or TypeScript that expose tools, resources and prompts to Claude, with templates, registration and testing.
- Official
MCP Integration for Plugins
anthropics/claude-plugins-official
Explains how to bundle Model Context Protocol servers in a Claude Code plugin, covering config files, stdio, SSE, HTTP and WebSocket server types, and authentication.
Crush Configuration
charmbracelet/crush
Explains how to configure the Crush coding agent with crushrc or crush.json, covering providers, models, LSPs, MCP servers, hooks, permissions and config precedence.
Context Mode Output Sandbox
mksglu/context-mode
Routes large command, file, API and browser output through context-mode tools so only the needed result enters the agent's context, instead of dumping it via Bash.
Warp GUI to Agent CLI Migration
warpdotdev/warp
Migrates the compatible subset of settings and global file-based MCP servers from the Warp desktop app into Warp Agent CLI without exposing credentials or state.
Related
Works with
Categories
Questions about Omnisim World Builder
What does Omnisim World Builder do?
Build, inspect, run, and debug OmniSim robotics worlds through the first-party MCP tools. Omnisim World Builder is an agent skill from omnilink-tech/omnisim. Build, inspect, run, and debug OmniSim robotics worlds through the first-party MCP tools.
When should I use Omnisim World Builder?
Omnisim World Builder fits situations like: requests involving OmniSim scenes; do not use for unrelated simulators.
How do I install Omnisim World Builder in Claude Code?
Run `npx skills add omnilink-tech/omnisim --skill omnisim-world-builder -a claude-code`. Or copy the skill folder (plugins/omnisim/skills/omnisim-world-builder in omnilink-tech/omnisim) into .claude/skills/omnisim-world-builder in your project. Claude Code loads it when a task matches its description.
How do I install Omnisim World Builder in Codex?
Run `npx skills add omnilink-tech/omnisim --skill omnisim-world-builder -a codex`. Or copy the skill folder (plugins/omnisim/skills/omnisim-world-builder in omnilink-tech/omnisim) into .agents/skills/omnisim-world-builder in your project. Codex loads it when a task matches its description.
Can I use Omnisim World Builder in Cursor, Gemini CLI or GitHub Copilot?
Cursor, Gemini CLI, GitHub Copilot and OpenCode also load SKILL.md folders. With the skills CLI, run `npx skills add omnilink-tech/omnisim --skill omnisim-world-builder -a cursor` (or -a gemini-cli, github-copilot or opencode for the others). To copy it by hand, put the folder in .cursor/skills/omnisim-world-builder, .gemini/skills/omnisim-world-builder, .github/skills/omnisim-world-builder and .opencode/skills/omnisim-world-builder in your project.
What does Omnisim World Builder need to run?
Going by SKILL.md and its folder, Omnisim World Builder needs the command-line tools its instructions call (python). Our summary lists: Python 3.
Does Omnisim World Builder access the network?
SKILL.md contains no URLs. Any network use would come from the scripts or tools the agent runs. This is read from the text; nothing was executed.
Is Omnisim World Builder safe to install?
Our automated static check of SKILL.md found no risky patterns, such as piping downloads into a shell, reading credential files or hidden Unicode. It is not a guarantee. Review the folder before installing.
What licence does Omnisim World Builder use?
Omnisim World Builder is published under the Apache-2.0 licence (the repository's licence). It allows redistribution, so the full SKILL.md is shown on this page.
How many tokens does Omnisim World Builder use?
About 529 tokens (SKILL.md is roughly 2.1k characters). Agents keep only the skill's name and description in context until a task matches; then they load SKILL.md in full.
What are the alternatives to Omnisim World Builder?
Skills that share tags, products or a category with Omnisim World Builder: MCP Server Builder (anthropics/skills, 180k stars), MCP Server Builder (shareAI-lab/learn-claude-code, 78k stars), MCP Integration for Plugins (anthropics/claude-plugins-official, 38k stars) and Crush Configuration (charmbracelet/crush, 29k stars). The comparison table on this page puts their stars, adoption, token cost, safety result and licence side by side.
Who maintains Omnisim World Builder?
omnilink-tech (a GitHub user) maintains it in omnilink-tech/omnisim, which has 187 GitHub stars. The repository was last updated on October 9, 2026.
Source: omnilink-tech/omnisim on GitHub. Facts on this page come from the repository at the commit we read; the author's words are quoted as theirs.