[Bug Report] The obs of camera (images) have different values even for same environments each time i start new simulation.

[wghou]

Describe the bug

I run a simulation and got obs data of camera. But I find that even for same cfg (all the obects in the same position), the obs of camera have different valuse. By the way, the object state in the obs are same. I save the images and calculate the diffenent between them, I got this:

1. the simulation scene:

2. the difference of camera obs each time reset the simullation:

3. the difference of camera obs each time reset the simullation, (change the denoiser mode):

import omni.replicator.core as rep
rep.settings.set_render_rtx_realtime(antialiasing="DLAA")

Steps to reproduce

In order to reproduce the phenomenon, I create a new script and run a simulation, every time reset the environment, the objects don't move. But the obs of camera has different values. The script is based on release/2.3.0

bin_stack_joint_pos_env_cfg.py

demo_env.py

System Info

Describe the characteristic of your environment:

• Commit: release/2.3.0
• Isaac Sim Version: 5.1.0
• OS: Ubuntu 22.04
• GPU: RTX 4090
• CUDA: 12.8
• GPU Driver: 580.95.05

Additional context

None

Checklist

• [x] I have checked that there is no similar issue in the repo (required)
• [ ] I have checked that the issue is not in running Isaac Sim itself and is related to the repo

[RandomOakForest]

Thank you for posting this. Please provide more details on your system and steps to reproduce as indicated in #3961. Thank you.

[garylvov]

I believe this non-deterministic rendering is the root cause of https://github.com/isaac-sim/IsaacLab/issues/3505