fixed wrong pending capture being chosen for an async annotation after starting a new data capture sequence

com.unity.perception/Runtime/GroundTruth/SimulationState.cs

                 throw new InvalidOperationException("AsyncAnnotation has already been reported and cannot be reported again.");
 
             PendingCapture pendingCapture = null;
+            int annotationIndex = -1;
-                    break;
+                    annotationIndex = pendingCapture.Annotations.FindIndex(a => a.Item1.Equals(asyncAnnotation.Annotation));
+                    if (annotationIndex != -1)
+                        break;
-            Debug.Assert(pendingCapture != null);
+            Debug.Assert(pendingCapture != null && annotationIndex != -1);
-            var annotationIndex = pendingCapture.Annotations.FindIndex(a => a.Item1.Equals(asyncAnnotation.Annotation));
             var annotationTuple = pendingCapture.Annotations[annotationIndex];
             var annotationData = annotationTuple.Item2;
 

com.unity.perception/Runtime/Randomization/Scenarios/ScenarioBase.cs

 
             while (!isScenarioComplete)
             {
-                // DatasetCapture.StartNewSequence();
+                DatasetCapture.StartNewSequence();
                 foreach (var config in ParameterConfiguration.configurations)
                     config.ApplyParameters(currentIteration, ParameterApplicationFrequency.OnIterationSetup);
                 OnIterationSetup();

com.unity.perception/Tests/Runtime/GroundTruthTests/DatasetCaptureTests.cs

 using System;
 using System.Collections;
 using System.Collections.Generic;
+using System.Data;
 using System.Globalization;
 using System.IO;
 using System.Linq;
 
             FileAssert.Exists(capturesPath);
             StringAssert.Contains(TestHelper.NormalizeJson(expectedAnnotation), EscapeGuids(File.ReadAllText(capturesPath)));
+        }
+
+        [UnityTest]
+        public IEnumerator AnnotationAsyncReportResult_FindsCorrectPendingCaptureAfterStartingNewSequence()
+        {
+            const string fileName = "my/file.png";
+
+            var value = new[]
+            {
+                new TestValues()
+                {
+                    a = "a string",
+                    b = 10
+                }
+            };
+
+            var ego = DatasetCapture.RegisterEgo("");
+            var annotationDefinition = DatasetCapture.RegisterAnnotationDefinition("");
+            var sensorHandle = DatasetCapture.RegisterSensor(ego, "", "", 1, 0);
+
+            // Record one capture for this frame
+            sensorHandle.ReportCapture(fileName, default);
+
+            // Wait one frame
+            yield return null;
+
+            // Reset the capture step
+            DatasetCapture.StartNewSequence();
+
+            // Record a new capture on different frame that has the same step (0) as the first capture
+            sensorHandle.ReportCapture(fileName, default);
+
+            // Confirm that the annotation correctly skips the first pending capture to write to the second
+            var asyncAnnotation = sensorHandle.ReportAnnotationAsync(annotationDefinition);
+            Assert.DoesNotThrow(() => asyncAnnotation.ReportValues(value));
+            DatasetCapture.ResetSimulation();
         }
 
         [Test]