diff --git a/scripts/launch_nodes.py b/scripts/launch_nodes.py
index a232870..372c34c 100644
--- a/scripts/launch_nodes.py
+++ b/scripts/launch_nodes.py
@@ -17,6 +17,7 @@ class Args:
     robot_ip: str = "192.168.1.10"
     gaussian_path : str = "/home/jennyw2/data/output/robot_iphone/point_cloud/iteration_30000/point_cloud.ply"
     robot_name: str = "robot_iphone"
+    greenscreen: bool = False
 
 
 def launch_robot_server(args: Args):
@@ -106,7 +107,8 @@ def launch_robot_server(args: Args):
 
         server = AppleOnPlatePybulletRobotServer(
            port=port, host=args.hostname, serve_mode=AppleOnPlatePybulletRobotServer.SERVE_MODES.INTERACTIVE,
-           camera_names=camera_names, robot_name=args.robot_name, cam_i=3, use_gripper=use_gripper
+           camera_names=camera_names, robot_name=args.robot_name, cam_i=3, use_gripper=use_gripper,
+           composite_bg_color=[0.0, 1.0, 0.0] if args.greenscreen else None,
         )
 
     elif args.robot == "sim_ur_pybullet_apple_interactive-nosplat":
diff --git a/splatsim/robots/sim_robot_pybullet_base.py b/splatsim/robots/sim_robot_pybullet_base.py
index a1e54be..340b0dc 100644
--- a/splatsim/robots/sim_robot_pybullet_base.py
+++ b/splatsim/robots/sim_robot_pybullet_base.py
@@ -231,8 +231,11 @@ class PybulletRobotServerBase:
         camera_names: List[str] = ["base_rgb"],
         cam_i: int = 254,
         object_config_path: str = "./configs/object_configs/objects.yaml",
+        composite_bg_color: List[float] = None,
     ):
         self.serve_mode = serve_mode
+        self.composite_bg_color = composite_bg_color
+        self._composite_bg_mask = None
         self.use_link_centers = use_link_centers
         self.robot_name = robot_name
         self.camera_names = camera_names
@@ -515,7 +518,7 @@ class PybulletRobotServerBase:
                 ],  # Even tho we're not using this, make sure to load at max 1 camera for memory purposes
             )
 
-            bg_color = [1, 1, 1]
+            bg_color = self.composite_bg_color if self.composite_bg_color is not None else [1, 1, 1]
             self.background = torch.tensor(bg_color, dtype=torch.float32, device="cuda")
 
             self.base_camera = self.setup_camera_from_dataset(
@@ -785,6 +788,17 @@ class PybulletRobotServerBase:
             transformations_cache=self.transformations_cache,
         )
 
+        if self.composite_bg_color is not None:
+            if self._composite_bg_mask is None:
+                robot_point_indices = torch.cat(segmented_list) if len(segmented_list) else torch.zeros(
+                    0, dtype=torch.long, device=xyz.device
+                )
+                mask = torch.ones(xyz.shape[0], dtype=torch.bool, device=xyz.device)
+                mask[robot_point_indices] = False
+                self._composite_bg_mask = mask
+            opacity = opacity.clone()
+            opacity[self._composite_bg_mask] = -20.0
+
         # Transform each object splat to be in the right pose
         cur_object_position_list = []
         cur_object_rotation_list = []