Is there a way to draw Joints

[RWLinno]

I read sapien's documents and then saw a lot of complicated methods, but I'm wondering if there is a simple way to draw the joints out of the data. Specifically is it possible to remap the parts of the rendered image that are joints to a certain color? I hope I can get your help.

[fbxiang]

Do you mean you want to draw a line segment at the joints? Or do you want to color the links that are connected to an active joint? Here is some code that we created previously to color robot links in contact red. Maybe you will find this helpful.
https://github.com/haosulab/cvpr-tutorial-2022/blob/master/debug/check_urdf.py