From f0cfb53fec7d99cbd210a215007e4f21a5af1f5c Mon Sep 17 00:00:00 2001
From: HuiDong Chen <huidongc@nvidia.com>
Date: Tue, 19 May 2026 13:21:24 +0800
Subject: [PATCH 1/8] experiment with texture streaming off

---
 apps/isaaclab.python.headless.kit                  | 2 +-
 source/isaaclab_tasks/test/rendering_test_utils.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/apps/isaaclab.python.headless.kit b/apps/isaaclab.python.headless.kit
index e4a8b0a7dde0..a736aeaed518 100644
--- a/apps/isaaclab.python.headless.kit
+++ b/apps/isaaclab.python.headless.kit
@@ -67,7 +67,7 @@ logSysStdOutput = false
 # False for Isaac Sim
 renderer.multiGpu.enabled = true
 renderer.multiGpu.autoEnable = true
-'rtx-transient'.resourcemanager.enableTextureStreaming = true
+'rtx-transient'.resourcemanager.enableTextureStreaming = false
 app.asyncRendering = false
 app.asyncRenderingLowLatency = false
 app.hydraEngine.waitIdle = false
diff --git a/source/isaaclab_tasks/test/rendering_test_utils.py b/source/isaaclab_tasks/test/rendering_test_utils.py
index d4fbf368ea7c..05f787e64796 100644
--- a/source/isaaclab_tasks/test/rendering_test_utils.py
+++ b/source/isaaclab_tasks/test/rendering_test_utils.py
@@ -70,7 +70,7 @@
 
 # Low-resolution camera outputs from RTX renderers are not deterministic enough to pass golden image testing
 # on every CI run. (NVBUG#6152566)
-_FLAKY_MARK = pytest.mark.flaky(max_runs=3, min_passes=1)
+_FLAKY_MARK = []  # pytest.mark.flaky(max_runs=3, min_passes=1)
 
 PHYSICS_RENDERER_AOV_COMBINATIONS = [
     # physx + isaacsim_rtx_renderer

From 1adfc8a5a1d5cf22c8fb3a72b3079731e7a57f6b Mon Sep 17 00:00:00 2001
From: HuiDong Chen <huidongc@nvidia.com>
Date: Tue, 19 May 2026 14:22:07 +0800
Subject: [PATCH 2/8] golden images

---
 .../dexsuite_kuka/newton-isaacsim_rtx_renderer-albedo.png     | 4 ++--
 .../dexsuite_kuka/newton-isaacsim_rtx_renderer-rgb.png        | 4 ++--
 .../dexsuite_kuka/newton-isaacsim_rtx_renderer-rgba.png       | 4 ++--
 ...ewton-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png | 4 ++--
 .../newton-isaacsim_rtx_renderer-simple_shading_full_mdl.png  | 4 ++--
 .../dexsuite_kuka/physx-isaacsim_rtx_renderer-albedo.png      | 4 ++--
 .../dexsuite_kuka/physx-isaacsim_rtx_renderer-rgb.png         | 4 ++--
 .../dexsuite_kuka/physx-isaacsim_rtx_renderer-rgba.png        | 4 ++--
 ...physx-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png | 4 ++--
 .../physx-isaacsim_rtx_renderer-simple_shading_full_mdl.png   | 4 ++--
 .../default_physics-default_renderer-rgb.png                  | 4 ++--
 .../default_physics-default_renderer-rgba.png                 | 4 ++--
 .../shadow_hand/newton-isaacsim_rtx_renderer-rgb.png          | 4 ++--
 .../shadow_hand/newton-isaacsim_rtx_renderer-rgba.png         | 4 ++--
 .../shadow_hand/physx-isaacsim_rtx_renderer-rgb.png           | 4 ++--
 .../shadow_hand/physx-isaacsim_rtx_renderer-rgba.png          | 4 ++--
 16 files changed, 32 insertions(+), 32 deletions(-)

diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-isaacsim_rtx_renderer-albedo.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-isaacsim_rtx_renderer-albedo.png
index a49e526d4eee..271f56e9f6e5 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-isaacsim_rtx_renderer-albedo.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-isaacsim_rtx_renderer-albedo.png
@@ -1,3 +1,3 @@
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diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-isaacsim_rtx_renderer-rgb.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-isaacsim_rtx_renderer-rgb.png
index 6d21415e1650..e22365c63ab0 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-isaacsim_rtx_renderer-rgb.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-isaacsim_rtx_renderer-rgb.png
@@ -1,3 +1,3 @@
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diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-isaacsim_rtx_renderer-rgba.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-isaacsim_rtx_renderer-rgba.png
index 525aa5b2776e..f664ea24b467 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-isaacsim_rtx_renderer-rgba.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-isaacsim_rtx_renderer-rgba.png
@@ -1,3 +1,3 @@
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diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png
index e591d31c5df9..5bbdbdbf66a5 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png
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diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-isaacsim_rtx_renderer-simple_shading_full_mdl.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-isaacsim_rtx_renderer-simple_shading_full_mdl.png
index 2cdfe790a7df..316b5cc805cd 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-isaacsim_rtx_renderer-simple_shading_full_mdl.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-isaacsim_rtx_renderer-simple_shading_full_mdl.png
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diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/physx-isaacsim_rtx_renderer-albedo.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/physx-isaacsim_rtx_renderer-albedo.png
index 266c129cbf86..1e4cfce8f9ee 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/physx-isaacsim_rtx_renderer-albedo.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/physx-isaacsim_rtx_renderer-albedo.png
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diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/physx-isaacsim_rtx_renderer-rgb.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/physx-isaacsim_rtx_renderer-rgb.png
index d36460128aae..2dfb415a1738 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/physx-isaacsim_rtx_renderer-rgb.png
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index c666fa628df2..3184526af25f 100644
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index 1b833d0f65d6..7e9ac86d26a9 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/physx-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/physx-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png
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index 28122c3bc3c2..5e3508d6319a 100644
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diff --git a/source/isaaclab_tasks/test/golden_images/registered_tasks/Isaac-Repose-Cube-Shadow-Vision-Direct-v0/default_physics-default_renderer-rgb.png b/source/isaaclab_tasks/test/golden_images/registered_tasks/Isaac-Repose-Cube-Shadow-Vision-Direct-v0/default_physics-default_renderer-rgb.png
index 1197faa87f8d..fbdc081c3fca 100644
--- a/source/isaaclab_tasks/test/golden_images/registered_tasks/Isaac-Repose-Cube-Shadow-Vision-Direct-v0/default_physics-default_renderer-rgb.png
+++ b/source/isaaclab_tasks/test/golden_images/registered_tasks/Isaac-Repose-Cube-Shadow-Vision-Direct-v0/default_physics-default_renderer-rgb.png
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index 96989870a197..380846022e77 100644
--- a/source/isaaclab_tasks/test/golden_images/registered_tasks/Isaac-Repose-Cube-Shadow-Vision-Direct-v0/default_physics-default_renderer-rgba.png
+++ b/source/isaaclab_tasks/test/golden_images/registered_tasks/Isaac-Repose-Cube-Shadow-Vision-Direct-v0/default_physics-default_renderer-rgba.png
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diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-isaacsim_rtx_renderer-rgb.png b/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-isaacsim_rtx_renderer-rgb.png
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From 441245db3ed9368610bd3ff9782257c6d39143d9 Mon Sep 17 00:00:00 2001
From: HuiDong Chen <huidongc@nvidia.com>
Date: Tue, 19 May 2026 15:09:30 +0800
Subject: [PATCH 3/8] changelog fragment

---
 .../changelog.d/huidongc-deterministic-rtx-rendering.skip         | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 source/isaaclab_tasks/changelog.d/huidongc-deterministic-rtx-rendering.skip

diff --git a/source/isaaclab_tasks/changelog.d/huidongc-deterministic-rtx-rendering.skip b/source/isaaclab_tasks/changelog.d/huidongc-deterministic-rtx-rendering.skip
new file mode 100644
index 000000000000..e69de29bb2d1

From eb89a15a8fafde6bafd3873dec97f961ddff5972 Mon Sep 17 00:00:00 2001
From: HuiDong Chen <huidongc@nvidia.com>
Date: Tue, 19 May 2026 16:45:46 +0800
Subject: [PATCH 4/8] golden images

---
 .../cartpole/newton-isaacsim_rtx_renderer-rgb.png             | 4 ++--
 .../cartpole/newton-isaacsim_rtx_renderer-rgba.png            | 4 ++--
 .../cartpole/physx-isaacsim_rtx_renderer-rgb.png              | 4 ++--
 .../cartpole/physx-isaacsim_rtx_renderer-rgba.png             | 4 ++--
 .../default_physics-default_renderer-rgb.png                  | 4 ++--
 .../default_physics-default_renderer-rgba.png                 | 4 ++--
 .../default_physics-default_renderer-rgb.png                  | 4 ++--
 .../default_physics-default_renderer-rgba.png                 | 4 ++--
 .../shadow_hand/newton-isaacsim_rtx_renderer-albedo.png       | 4 ++--
 ...ewton-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png | 4 ++--
 .../shadow_hand/physx-isaacsim_rtx_renderer-albedo.png        | 4 ++--
 ...physx-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png | 4 ++--
 .../physx-isaacsim_rtx_renderer-simple_shading_full_mdl.png   | 4 ++--
 .../golden_images/shadow_hand/physx-newton_renderer-rgb.png   | 4 ++--
 .../golden_images/shadow_hand/physx-newton_renderer-rgba.png  | 4 ++--
 15 files changed, 30 insertions(+), 30 deletions(-)

diff --git a/source/isaaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-rgb.png b/source/isaaclab_tasks/test/golden_images/cartpole/newton-isaacsim_rtx_renderer-rgb.png
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@@ -1,3 +1,3 @@
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+size 3836
diff --git a/source/isaaclab_tasks/test/golden_images/cartpole/physx-isaacsim_rtx_renderer-rgba.png b/source/isaaclab_tasks/test/golden_images/cartpole/physx-isaacsim_rtx_renderer-rgba.png
index 74a8d4f725c8..6c1d1eb8cf90 100644
--- a/source/isaaclab_tasks/test/golden_images/cartpole/physx-isaacsim_rtx_renderer-rgba.png
+++ b/source/isaaclab_tasks/test/golden_images/cartpole/physx-isaacsim_rtx_renderer-rgba.png
@@ -1,3 +1,3 @@
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+size 4282
diff --git a/source/isaaclab_tasks/test/golden_images/registered_tasks/Isaac-Cartpole-Camera-Presets-Direct-v0/default_physics-default_renderer-rgb.png b/source/isaaclab_tasks/test/golden_images/registered_tasks/Isaac-Cartpole-Camera-Presets-Direct-v0/default_physics-default_renderer-rgb.png
index fbfa3e28851a..9f6ceed9d5f3 100644
--- a/source/isaaclab_tasks/test/golden_images/registered_tasks/Isaac-Cartpole-Camera-Presets-Direct-v0/default_physics-default_renderer-rgb.png
+++ b/source/isaaclab_tasks/test/golden_images/registered_tasks/Isaac-Cartpole-Camera-Presets-Direct-v0/default_physics-default_renderer-rgb.png
@@ -1,3 +1,3 @@
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+oid sha256:480660a4b5aa154058a105c637382b2b4fb7571ce1c1523336d8ac73a6093d31
+size 3836
diff --git a/source/isaaclab_tasks/test/golden_images/registered_tasks/Isaac-Cartpole-Camera-Presets-Direct-v0/default_physics-default_renderer-rgba.png b/source/isaaclab_tasks/test/golden_images/registered_tasks/Isaac-Cartpole-Camera-Presets-Direct-v0/default_physics-default_renderer-rgba.png
index 0791c1063cae..6c1d1eb8cf90 100644
--- a/source/isaaclab_tasks/test/golden_images/registered_tasks/Isaac-Cartpole-Camera-Presets-Direct-v0/default_physics-default_renderer-rgba.png
+++ b/source/isaaclab_tasks/test/golden_images/registered_tasks/Isaac-Cartpole-Camera-Presets-Direct-v0/default_physics-default_renderer-rgba.png
@@ -1,3 +1,3 @@
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+oid sha256:effec4651012855f9256b68517f8eb3663d803427ccd5521e602fe6e8b756ef2
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diff --git a/source/isaaclab_tasks/test/golden_images/registered_tasks/Isaac-Cartpole-RGB-Camera-Direct-v0/default_physics-default_renderer-rgb.png b/source/isaaclab_tasks/test/golden_images/registered_tasks/Isaac-Cartpole-RGB-Camera-Direct-v0/default_physics-default_renderer-rgb.png
index fbfa3e28851a..9f6ceed9d5f3 100644
--- a/source/isaaclab_tasks/test/golden_images/registered_tasks/Isaac-Cartpole-RGB-Camera-Direct-v0/default_physics-default_renderer-rgb.png
+++ b/source/isaaclab_tasks/test/golden_images/registered_tasks/Isaac-Cartpole-RGB-Camera-Direct-v0/default_physics-default_renderer-rgb.png
@@ -1,3 +1,3 @@
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diff --git a/source/isaaclab_tasks/test/golden_images/registered_tasks/Isaac-Cartpole-RGB-Camera-Direct-v0/default_physics-default_renderer-rgba.png b/source/isaaclab_tasks/test/golden_images/registered_tasks/Isaac-Cartpole-RGB-Camera-Direct-v0/default_physics-default_renderer-rgba.png
index 0791c1063cae..6c1d1eb8cf90 100644
--- a/source/isaaclab_tasks/test/golden_images/registered_tasks/Isaac-Cartpole-RGB-Camera-Direct-v0/default_physics-default_renderer-rgba.png
+++ b/source/isaaclab_tasks/test/golden_images/registered_tasks/Isaac-Cartpole-RGB-Camera-Direct-v0/default_physics-default_renderer-rgba.png
@@ -1,3 +1,3 @@
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+oid sha256:effec4651012855f9256b68517f8eb3663d803427ccd5521e602fe6e8b756ef2
+size 4282
diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-isaacsim_rtx_renderer-albedo.png b/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-isaacsim_rtx_renderer-albedo.png
index 34d8b8867cb1..6e0ec962d60d 100644
--- a/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-isaacsim_rtx_renderer-albedo.png
+++ b/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-isaacsim_rtx_renderer-albedo.png
@@ -1,3 +1,3 @@
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-size 1758
+oid sha256:0087cb487595cb7e03a6708ba325209a642b9f3dab627fb0af815bf10dd5cb5e
+size 1745
diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png b/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png
index 4c4dc0b7383c..72a69d97b557 100755
--- a/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png
+++ b/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png
@@ -1,3 +1,3 @@
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-size 7134
+oid sha256:cb669a2d92de85d87a9c7b0a411fd0bf14fdfe606e414c18403c10c9cf461a56
+size 7144
diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-isaacsim_rtx_renderer-albedo.png b/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-isaacsim_rtx_renderer-albedo.png
index 4f1b5fda96b4..f779fc71f5bb 100644
--- a/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-isaacsim_rtx_renderer-albedo.png
+++ b/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-isaacsim_rtx_renderer-albedo.png
@@ -1,3 +1,3 @@
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-size 1907
+oid sha256:1c37c64a3d1cac40e495e4f85358b2c750dd1f716cbd10a15f005e04e2417646
+size 1954
diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png b/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png
index 357f1231be34..2cc542bbfac8 100755
--- a/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png
+++ b/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-isaacsim_rtx_renderer-simple_shading_diffuse_mdl.png
@@ -1,3 +1,3 @@
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-size 6893
+oid sha256:ccabbd4b2bd797a320c39fda1c21766818687795298b0ac2fd28c9fc2f79c0e2
+size 6896
diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-isaacsim_rtx_renderer-simple_shading_full_mdl.png b/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-isaacsim_rtx_renderer-simple_shading_full_mdl.png
index bc0da8969fff..ed487287fb14 100644
--- a/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-isaacsim_rtx_renderer-simple_shading_full_mdl.png
+++ b/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-isaacsim_rtx_renderer-simple_shading_full_mdl.png
@@ -1,3 +1,3 @@
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-size 8588
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+size 8583
diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-newton_renderer-rgb.png b/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-newton_renderer-rgb.png
index 05fa5d11e83d..b428443b38d8 100644
--- a/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-newton_renderer-rgb.png
+++ b/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-newton_renderer-rgb.png
@@ -1,3 +1,3 @@
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diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-newton_renderer-rgba.png b/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-newton_renderer-rgba.png
index 59c5d30efda6..2cf101f7d5c7 100644
--- a/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-newton_renderer-rgba.png
+++ b/source/isaaclab_tasks/test/golden_images/shadow_hand/physx-newton_renderer-rgba.png
@@ -1,3 +1,3 @@
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From babfbd1c1497fe31bd721dffa0a17af5847354bf Mon Sep 17 00:00:00 2001
From: HuiDong Chen <huidongc@nvidia.com>
Date: Tue, 19 May 2026 19:35:22 +0800
Subject: [PATCH 5/8] OVRTX still under investigation

---
 .../isaaclab_tasks/test/rendering_test_utils.py  | 16 +---------------
 1 file changed, 1 insertion(+), 15 deletions(-)

diff --git a/source/isaaclab_tasks/test/rendering_test_utils.py b/source/isaaclab_tasks/test/rendering_test_utils.py
index 05f787e64796..ce0e775fc493 100644
--- a/source/isaaclab_tasks/test/rendering_test_utils.py
+++ b/source/isaaclab_tasks/test/rendering_test_utils.py
@@ -70,7 +70,7 @@
 
 # Low-resolution camera outputs from RTX renderers are not deterministic enough to pass golden image testing
 # on every CI run. (NVBUG#6152566)
-_FLAKY_MARK = []  # pytest.mark.flaky(max_runs=3, min_passes=1)
+_FLAKY_MARK = pytest.mark.flaky(max_runs=3, min_passes=1)
 
 PHYSICS_RENDERER_AOV_COMBINATIONS = [
     # physx + isaacsim_rtx_renderer
@@ -79,49 +79,42 @@
         "isaacsim_rtx_renderer",
         "rgb",
         id="physx-isaacsim_rtx-rgb",
-        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "physx",
         "isaacsim_rtx_renderer",
         "albedo",
         id="physx-isaacsim_rtx-albedo",
-        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "physx",
         "isaacsim_rtx_renderer",
         "depth",
         id="physx-isaacsim_rtx-depth",
-        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "physx",
         "isaacsim_rtx_renderer",
         "simple_shading_constant_diffuse",
         id="physx-isaacsim_rtx-simple_shading_constant_diffuse",
-        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "physx",
         "isaacsim_rtx_renderer",
         "simple_shading_diffuse_mdl",
         id="physx-isaacsim_rtx-simple_shading_diffuse_mdl",
-        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "physx",
         "isaacsim_rtx_renderer",
         "simple_shading_full_mdl",
         id="physx-isaacsim_rtx-simple_shading_full_mdl",
-        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "physx",
         "isaacsim_rtx_renderer",
         "semantic_segmentation",
         id="physx-isaacsim_rtx-semantic_segmentation",
-        marks=_FLAKY_MARK,
     ),
     # newton + isaacsim_rtx_renderer
     pytest.param(
@@ -129,49 +122,42 @@
         "isaacsim_rtx_renderer",
         "rgb",
         id="newton-isaacsim_rtx-rgb",
-        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "newton",
         "isaacsim_rtx_renderer",
         "albedo",
         id="newton-isaacsim_rtx-albedo",
-        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "newton",
         "isaacsim_rtx_renderer",
         "depth",
         id="newton-isaacsim_rtx-depth",
-        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "newton",
         "isaacsim_rtx_renderer",
         "simple_shading_constant_diffuse",
         id="newton-isaacsim_rtx-simple_shading_constant_diffuse",
-        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "newton",
         "isaacsim_rtx_renderer",
         "simple_shading_diffuse_mdl",
         id="newton-isaacsim_rtx-simple_shading_diffuse_mdl",
-        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "newton",
         "isaacsim_rtx_renderer",
         "simple_shading_full_mdl",
         id="newton-isaacsim_rtx-simple_shading_full_mdl",
-        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "newton",
         "isaacsim_rtx_renderer",
         "semantic_segmentation",
         id="newton-isaacsim_rtx-semantic_segmentation",
-        marks=_FLAKY_MARK,
     ),
     # physx + newton_renderer (warp)
     pytest.param(

From 8a8f2b803f73ba65bbf0919dbb43bfce9784d52c Mon Sep 17 00:00:00 2001
From: HuiDong Chen <huidongc@nvidia.com>
Date: Tue, 19 May 2026 21:59:42 +0800
Subject: [PATCH 6/8] show ovrtx logs in stdout, reduce log verbosity to info
 level

---
 .../isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_cfg.py   | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_cfg.py b/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_cfg.py
index 1d4f287cd169..dc018ceb2636 100644
--- a/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_cfg.py
+++ b/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_cfg.py
@@ -37,8 +37,8 @@ class OVRTXRendererCfg(RendererCfg):
     multi-environment stage instead (same effect as setting this to ``False`` for that run).
     """
 
-    log_level: str = "verbose"
+    log_level: str = "info"
     """OVRTX carb log level: "verbose", "info", "warn", "error"."""
 
-    log_file_path: str = "/tmp/ovrtx_renderer.log"
+    log_file_path: str = "/dev/stdout"
     """Path for OVRTX log file."""

From 12fbfb7ff9df4f4877841dd3ac7fd71310c759aa Mon Sep 17 00:00:00 2001
From: HuiDong Chen <huidongc@nvidia.com>
Date: Tue, 19 May 2026 22:04:14 +0800
Subject: [PATCH 7/8] changelog

---
 .../changelog.d/huidongc-deterministic-rtx-rendering.rst     | 5 +++++
 1 file changed, 5 insertions(+)
 create mode 100644 source/isaaclab_ov/changelog.d/huidongc-deterministic-rtx-rendering.rst

diff --git a/source/isaaclab_ov/changelog.d/huidongc-deterministic-rtx-rendering.rst b/source/isaaclab_ov/changelog.d/huidongc-deterministic-rtx-rendering.rst
new file mode 100644
index 000000000000..6fcbfd1b6f91
--- /dev/null
+++ b/source/isaaclab_ov/changelog.d/huidongc-deterministic-rtx-rendering.rst
@@ -0,0 +1,5 @@
+Changed
+^^^^^^^
+
+* Changed :attr:`~isaaclab_ov.renderers.OVRTXRendererCfg.log_file_path` default to ``"/dev/stdout"``
+  and :attr:`~isaaclab_ov.renderers.OVRTXRendererCfg.log_level` default to ``"info"``.

From e137c79488c1231a420fea405facaa8635c26a9e Mon Sep 17 00:00:00 2001
From: HuiDong Chen <huidongc@nvidia.com>
Date: Tue, 19 May 2026 22:22:17 +0800
Subject: [PATCH 8/8] restore to verbose

---
 .../changelog.d/huidongc-deterministic-rtx-rendering.rst       | 3 +--
 source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_cfg.py | 2 +-
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/source/isaaclab_ov/changelog.d/huidongc-deterministic-rtx-rendering.rst b/source/isaaclab_ov/changelog.d/huidongc-deterministic-rtx-rendering.rst
index 6fcbfd1b6f91..9d8ac5af39bc 100644
--- a/source/isaaclab_ov/changelog.d/huidongc-deterministic-rtx-rendering.rst
+++ b/source/isaaclab_ov/changelog.d/huidongc-deterministic-rtx-rendering.rst
@@ -1,5 +1,4 @@
 Changed
 ^^^^^^^
 
-* Changed :attr:`~isaaclab_ov.renderers.OVRTXRendererCfg.log_file_path` default to ``"/dev/stdout"``
-  and :attr:`~isaaclab_ov.renderers.OVRTXRendererCfg.log_level` default to ``"info"``.
+* Changed :attr:`~isaaclab_ov.renderers.OVRTXRendererCfg.log_file_path` default to ``"/dev/stdout"``.
diff --git a/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_cfg.py b/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_cfg.py
index dc018ceb2636..5cb5987a1747 100644
--- a/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_cfg.py
+++ b/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer_cfg.py
@@ -37,7 +37,7 @@ class OVRTXRendererCfg(RendererCfg):
     multi-environment stage instead (same effect as setting this to ``False`` for that run).
     """
 
-    log_level: str = "info"
+    log_level: str = "verbose"
     """OVRTX carb log level: "verbose", "info", "warn", "error"."""
 
     log_file_path: str = "/dev/stdout"