Cross-simulator pilot: one GenManip package on OmniSim?

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?

Start by reviewing the package system and black-box benchmark API, then identify a small pick-and-place package and its observation, action, and success contract. The proposed work would reproduce that task in OmniSim, run matched seeds, publish scripts and measured results, and report any interface gaps; no specific GenManip files or tests are named yet.