OmniSim

OmniSim is a standalone robotics simulator with a first-party HTTP harness and an MCP proxy for coding agents, including Claude Code and Cursor. Its documentation describes loading worlds, running controllers, inspecting joints and contacts, and debugging simulated robots. It is not a model provider. The separate connected OmniLink agent requires an OmniKey and a model connection, with model usage billed separately.

The simulator is Apache-2.0 licensed. Windows 10/11 has the only prebuilt installer; Ubuntu 22.04 and 24.04 require a source build, and macOS is unsupported. A working engine and Newton runtime are prerequisites: cloning the repository or starting the MCP proxy alone does not supply a simulator. The agent tools can author and manipulate simulation scenes, so they are an execution and control interface rather than a read-only documentation search. The project explicitly says simulation-to-hardware transfer has not been validated.