Summary
--enable-nrend cannot be used with scenes containing dynamic objects (cuboid tracks) on NRE 26.02 (nre-ga:26.02).
Reproduction
USDZ: NuRec Direct Training output (official ncore converter, 5cam + nrend + 80 cuboid tracks)
Case 1: --enable-nrend + --enable-editing-actors
sensorsim | [ERROR] CuboidTracks: invalid tracks_poses_start size
Case 2: --enable-nrend without --enable-editing-actors
sensorsim | Got render request with DynamicObject updates but actor editing is disabled on the server.
Restart serve-grpc with --enable-editing-actors.
Case 3 (works): --no-enable-nrend + --enable-editing-actors
- Dynamic objects render correctly with the non-NRend renderer.
Environment
- AlpaSim: 0.70.0
- NRE sensorsim:
nvcr.io/nvidia/nre/nre-ga:26.02 (latest as of 2026-05-08)
- USDZ: Official ncore converter output with
renderer: 3dgut-nrend in parsed_config.yaml
sequence_tracks.json: 80 tracks, standard format (same as custom converter output which works with --no-enable-nrend)
Context
AlpaSim 0.70.0 CHANGELOG mentions:
New flag --enable-editing-actors added to the base sensorsim command, required by NRE 26.3
This suggests NRE 26.3 may resolve this. Is there an ETA for NRE 26.3, or a workaround for NRend + dynamic objects on 26.02?
Workaround (current)
Use --no-enable-nrend (volume.nurec renderer) when scenes have cuboid tracks. NRend can only be used with empty sequence_tracks.json (no dynamic objects), which limits its usefulness for closed-loop evaluation.
Summary
--enable-nrendcannot be used with scenes containing dynamic objects (cuboid tracks) on NRE 26.02 (nre-ga:26.02).Reproduction
USDZ: NuRec Direct Training output (official ncore converter, 5cam + nrend + 80 cuboid tracks)
Case 1:
--enable-nrend+--enable-editing-actorsCase 2:
--enable-nrendwithout--enable-editing-actorsCase 3 (works):
--no-enable-nrend+--enable-editing-actorsEnvironment
nvcr.io/nvidia/nre/nre-ga:26.02(latest as of 2026-05-08)renderer: 3dgut-nrendin parsed_config.yamlsequence_tracks.json: 80 tracks, standard format (same as custom converter output which works with--no-enable-nrend)Context
AlpaSim 0.70.0 CHANGELOG mentions:
This suggests NRE 26.3 may resolve this. Is there an ETA for NRE 26.3, or a workaround for NRend + dynamic objects on 26.02?
Workaround (current)
Use
--no-enable-nrend(volume.nurec renderer) when scenes have cuboid tracks. NRend can only be used with emptysequence_tracks.json(no dynamic objects), which limits its usefulness for closed-loop evaluation.