How to only show the muscles

[Ming-Start]

I have got thisthis. But there always show the yellow skin. How can I only show the muscles

[Vittorio-Caggiano]

Hi @Ming-Start , there is an example how to do it at the bottom of the ICRA2023 Colab Tutorial

# find geometries with ID == 1 which indicates the skins
geom_1_indices = np.where(env.sim.model.geom_group == 1)
# Change the alpha value to make it transparent
env.sim.model.geom_rgba[geom_1_indices, 3] = 0

env.sim.renderer.set_viewer_settings(
           render_actuator=True,
           render_tendon=True
       )

let us know if it works for your use-case