Selecting objects to render in (or to filter out from) cameras

[titoirfan]

Hi there,

I have asked this question before, but unfortunately received no replies from the team (#399).

I am doing vision-based locomotion with front-facing cameras (TiledCamera with "distance_to_image_plane" data type).

While the robots do not collide with each other during training, they still see each other in their cameras.
This can clutter the robot's vision, especially if the number of parallel environments is high.

Therefore, I want to ask if there is a way to only render certain objects (e.g. filter out other robots).
I can't use RayCasterCamera as I want the robot's own body to be rendered in the images.

Thanks for the great work on Isaac Lab and the support!

[RandomOakForest]

Thank you for posting this. To prevent cameras in one environment from viewing objects in other environments, you must physically isolate each environment. The renderer does not support masking objects per camera programmatically.