Release v9.2.6 of omnilink-tech/omnisim fixes servo motor inertia handling so that light grippers can hold objects by friction. It changes the behavior in which the position servo removed rotor inertia: when the ratio of dt·kd to M exceeds 1, inertia is now added. The release also includes a real measurement in which an SO-ARM 102 picks up a 40mm cube and moves it 17.8cm. These changes are published in the GitHub release notes.
OmniSim is an open-source simulator where coding agents control robots. It supports control over HTTP/JSON and MCP, Newton physics, wgpu rendering, ROS 2, and reproducible benchmarks. In v9.2.6 the root collider of URDF robots is off by default, and the OmniLink bridge can no longer start a turn without a new prompt. It also includes models published by real manufacturers such as Robonine SO-ARM 102, Kachaka, and ALLEX.
The 17.8cm move is a single case using an SO-ARM 102 and a 40mm cube; this result alone cannot be used to judge performance for other grippers or contact situations. Because the engine, runtime, and bridge all change together, updates must be done through the installer. Behavior changes in arm gripping and multi-robot contact must be checked in the release notes. So this measurement is a specific case of the changed grasping behavior, not evidence of the overall accuracy of the simulator.