Camera shows objects being smeared

[tomjur]

Hi,

In our project we are training a tabletop manipulation task involving various objects and recording the scene with a pinhole camera.
When an episode changes for a particular environment (via reset_idx), we sample locations of the objects and move them using obj.write_root_state_to_sim, and then when we capture images using the camera, we see both the objects post reset (which is what we require) as well as a lingering "shadow image" of the objects from the previous episode (see the attached images).

What is the best methodology to avoid the objects being smeared onto the next episode?

Thanks,
Tom