Hi GenManip team — I’m Ahmed, maintainer of OmniSim.
Your package system and black-box benchmark API look like a good boundary for a small cross-simulator portability test. Rather than asking your team to support another simulator, I’d like to do the porting work on the OmniSim side.
A concrete pilot could be:
- you nominate one small pick-and-place package plus its observation, action, and success contract;
- I reproduce that task in OmniSim, importing the robot/assets where licensing permits;
- I run matched seeds and publish the scripts, measured success/failure results, and the interface gaps we find;
- I report the result back here before proposing any change to GenManip.
OmniSim is Apache-2.0 and provides URDF import, CPU/GPU Newton physics, an HTTP/MCP control surface, synthetic RGB/depth/instance output, and a measured manipulation demo. It is not an RTX-photoreal replacement, and its sim-to-real fidelity is not yet established, so I see this as a benchmark-portability experiment rather than a parity claim.
Would this be useful to you? If so, which package and minimum interface would make the best first target?
Hi GenManip team — I’m Ahmed, maintainer of OmniSim.
Your package system and black-box benchmark API look like a good boundary for a small cross-simulator portability test. Rather than asking your team to support another simulator, I’d like to do the porting work on the OmniSim side.
A concrete pilot could be:
OmniSim is Apache-2.0 and provides URDF import, CPU/GPU Newton physics, an HTTP/MCP control surface, synthetic RGB/depth/instance output, and a measured manipulation demo. It is not an RTX-photoreal replacement, and its sim-to-real fidelity is not yet established, so I see this as a benchmark-portability experiment rather than a parity claim.
Would this be useful to you? If so, which package and minimum interface would make the best first target?