As stated, so far I want to make a certain object invisible to cameras in both RGB images and segmentation images. A very tricky way I am doing now is to set the actor (the object) to a place far from the visual field of cameras (by using gym.set_actor_rigid_body_states()), and only step the graphics and update the camera sensors rendering without doing gym.simulate(sim). And I set the object back to where it was after saving the images. From a previous post in this forum, I get to know that Isaac Gym doesn’t support transparency objects (adjusting Alpha) yet. I suppose there will be some smarter way to achieve this. Really appreciate any possible help or advice.