Artifacts in replicator images


I am working with replicator in Isaac Sim, having some problems with artifacts in the generated images.
While modifying the pose of a pallet, some shadows of the prior pose are rendered. I already set the anti-aliasing algorithm to FXAA like suggested in this discussion (Replicator images contain artifacts from other frames). This step improved the image quality significantly, but I want to get rid of the remaining artifacts, too. Are there any suggestions?

I activated the FXAA algorithm by two steps:

  • Use the following app configurations:

    APP_CONFIG = {
    “renderer”: “RayTracedLighting”,
    “headless”: False,
    “width”: 1024,
    “height”: 1024,
    “num_frames”: 16,
    “multi_gpu”: True,
    “anti_aliasing”: “FXAA”,

  • Set replicator renderer settings:

Hi there,

can you try increasing the capturing frame interval:

rep.settings.carb_settings("/omni/replicator/RTSubframes", 3)


Hi Andrei,
I checked it today, unfortunately the line does not solve the issue.
Instead, the shadows are more dominant increasing the RTSubframes. Setting the param to 1 creates the best results. In comparison, the image attached is captured with value 3.


Hi Marvin,

would it be possible to get access to the USD scene to test it out ourselves?