NVIDIA has released Isaac Sim 6.2.0, which turns on Gaussian accumulated depth and albedo in the default render configuration for NuRec scenes.
Isaac Sim 6.0, released in June, loads NuRec gaussian splatting scenes as USD assets through the Fabric Scene Delegate. In 6.2.0, isaacsim.replicator.nurec_utils moves from 0.1.2 to 0.1.3 and enables accumulated depth and albedo in the default Sensor Processing Graph (SPG) render configuration, with accumulation capped at 360 Gaussians.
The second change sits in mobility generation, where isaacsim.replicator.experimental.mobility_gen moves from 0.3.0 to 0.5.0. NuRec replay now keeps the requested RGB and depth flags. Until this release, replay forced RGB-only output, so a recorded robot path played back through a reconstructed scene returned color frames even when depth had been requested.
Depth is the per pixel distance a depth sensor reports, and albedo is surface color with lighting removed. With both on by default, a gaussian splatting reconstruction of a real warehouse or lab can produce depth frames alongside RGB for perception training data. The release notes do not say how the 360 Gaussian cap affects render cost or depth accuracy. The bundled omni.kit.converter.gsplat extension also moves from 0.1.16 to 0.1.26, with no listed changes.
Elsewhere, Isaac Sim 6.2.0 updates to Kit SDK 110.4.0, moves Newton to 1.6.1 with MuJoCo 3.12.0 and Warp 1.17.0, removes Cortex, and marks Ubuntu 22.04 for removal in a future release.
The Isaac Sim source carries an Apache 2.0 license, while the components needed to build and run it fall under separate terms. Isaac Sim 6.2.0 is available now on GitHub.
