The Buddha's teaching on Dependent Origination are among his most profound and challenging. This teaching clearly shows how ignorance leads to suffering, and implicit in this is the way out of suffering.
All the phenomena of our senses are empty of any solid substance or essence. It may be more appropriate to refer to phenomena as "appearances" rather than "objects." This theme is explored through the Sutta "A Lump of Foam" in the Samyutta Nikaya.