Segmentation ID does not work for soft objects

Hi NVIDIA and robotics friends,

I would like to obtain an image with my object segmented out from the background. I found using the IMAGE_SEGMENTATION image type helpful and it works well with rigid bodies. This is how I do it: seg_img = gym.get_camera_image(sim, env, cam_handles[c], gymapi.IMAGE_SEGMENTATION)

However, for a soft object, IMAGE_SEGMENTATION does not work, even though I already set the segmentionID for it soft_actor = gym.create_actor(env, soft_asset, soft_pose, "soft", i, 1, segmentationId=2)

Could you suggest a way to resolve this issue?

Thanks a lot,
Bradley