Hey everyone :-) I'm trying access the information of my ARFrame so I can colorize different parts of my scene depending of their classifications. In other words, I'm looking for a way to transform XYZ World Coordinates or XY Screen Coordinates to what is being classified by my AR Session in that position. All the floor in the scene being colorize in red, the tables in blue, the walls in green, etc. How could I embed in real-time these classifications from my reconstructed ARMeshAnchor into my coordinates so I can access it on my Metal Script in real-time? As of today... I've been able to get the XYZ World Coordinate related to a XY Screen Coordinate reading the following example: Building an Immersive Experience with RealityKit Here is a scene painting it with different shades of purple depending on the Z world-coordinate: P.S. I want to be able to do it within RealityKit. Thanks in advance.