NRend + dynamic objects incompatible on NRE 26.02 (tracks_poses_start size error)

[cheundw-dot]

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.

[mwatson-nvidia]

I forwarded this to the relevant internal group.