Jinxian Zhou

Qustion about robot.compute_spatial_twist_jacobian()

3

Hello, When I compute joint velocity from twist, the function `robot.compute_spatial_twist_jacobian()` in 0.8 version I want to use disappears now in 3.0v. So is there similar method to get the...

Difference between link.get_id() in the past 0.8 version and link.get_index() in 3.0 version

3

Hello, I 'm confused about the `camera.get_picture("Segmentation") `, [the API doc ](https://sapien-sim.github.io/docs/user_guide/rendering/camera.html#visualize-segmentation) said the `camera.get_picture("Segmentation") [...,1]` indicates acotr/link id label while `[..., 0] ` indicates visual label. I wonder whether...

Question about the function camera.get_normal_rgba() in past version

2

Hi, I want to use SAPIEN 3.0 version ,and find function camera.**get_normal_rgba()** which is used in 0.8 Version disappeared. [https://github.com/TritiumR/Where2Explore/blob/656f3a470ddc18885980aadd1ab316414fc3c90a/code/camera.py#L78] And I can't find the documention for 0.8 version ....

Question About the TODO : render_id_to_visual_name() in scene

1

Hi, I find the property ` render_id_to_visual_name()` in class `Scene()` shows TODO. And I wonder if there is any way to correspond the link's visual name with the link ?...