[isaacsim.replicator.nurec_utils] Isaac Sim Replicator NuRec Utils#
Version: 0.1.2
Isaac Sim Replicator NuRec Utils#
isaacsim.replicator.nurec_utils is an experimental module for rendering and checking NuRec (neural reconstruction) USD assets in Isaac Sim. It is intended for validation, regression tests, and debugging workflows where a NuRec asset must be rendered at known camera views and compared against reference imagery.
Experimental: APIs, command-line behavior, supported NuRec formats, and output files are not guaranteed to stay future compatible.
What It Provides#
The module provides reusable helpers for NuRec USD rendering workflows:
Stage detection for NuRec particle-field / gaussian-splat assets, NuRec volume assets, and SPG/PPISP render paths.
Render setup helpers that apply the stage-specific settings required before first Hydra sync.
Render-product and capture helpers for authored SPG render products and plain camera render products.
Pose, timestamp, manifest, image, and sampling helpers for rendering sensor-rig keyframes or explicit TUM-format poses.
Evaluation helpers for render-vs-ground-truth checks, including PSNR, SSIM, mean absolute difference, comparison panels, metric plots, pose heatmaps, and scoped timing.
Runnable tutorials, command lines, ground-truth directory layout, and custom-script setup examples live in the NuRec rendering utilities user guide under docs/isaacsim/assets/nurec_utils.rst.
Enable Extension#
The extension can be enabled (if not already) in one of the following ways:
Define the next entry as an application argument from a terminal.
APP_SCRIPT.(sh|bat) --enable isaacsim.replicator.nurec_utils
Define the next entry under [dependencies] in an experience (.kit) file or an extension configuration (extension.toml) file.
[dependencies]
"isaacsim.replicator.nurec_utils" = {}
Open the Window > Extensions menu in a running application instance and search for isaacsim.replicator.nurec_utils.
Then, toggle the enable control button if it is not already active.