warp-lang 1.0.2__py3-none-macosx_10_13_universal2.whl → 1.1.0__py3-none-macosx_10_13_universal2.whl

warp/render/render_usd.py

@@ -1,749 +1,768 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
-
-import warp as wp
-import numpy as np
-import math
-
-
-def _usd_add_xform(prim):
-    from pxr import UsdGeom
-
-    prim = UsdGeom.Xform(prim)
-    prim.ClearXformOpOrder()
-
-    t = prim.AddTranslateOp()
-    r = prim.AddOrientOp()
-    s = prim.AddScaleOp()
-
-
-def _usd_set_xform(xform, pos: tuple, rot: tuple, scale: tuple, time):
-    from pxr import UsdGeom, Gf
-
-    xform = UsdGeom.Xform(xform)
-
-    xform_ops = xform.GetOrderedXformOps()
-
-    if pos is not None:
-        xform_ops[0].Set(Gf.Vec3d(float(pos[0]), float(pos[1]), float(pos[2])), time)
-    if rot is not None:
-        xform_ops[1].Set(Gf.Quatf(float(rot[3]), float(rot[0]), float(rot[1]), float(rot[2])), time)
-    if scale is not None:
-        xform_ops[2].Set(Gf.Vec3d(float(scale[0]), float(scale[1]), float(scale[2])), time)
-
-
-# transforms a cylinder such that it connects the two points pos0, pos1
-def _compute_segment_xform(pos0, pos1):
-    from pxr import Gf
-
-    mid = (pos0 + pos1) * 0.5
-    height = (pos1 - pos0).GetLength()
-
-    dir = (pos1 - pos0) / height
-
-    rot = Gf.Rotation()
-    rot.SetRotateInto((0.0, 0.0, 1.0), Gf.Vec3d(dir))
-
-    scale = Gf.Vec3f(1.0, 1.0, height)
-
-    return (mid, Gf.Quath(rot.GetQuat()), scale)
-
-
-class UsdRenderer:
-    """A USD renderer"""
-
-    def __init__(self, stage, up_axis="Y", fps=60, scaling=1.0):
-        """Construct a UsdRenderer object
-
-        Args:
-            model: A simulation model
-            stage (str/Usd.Stage): A USD stage (either in memory or on disk)
-            up_axis (str): The upfacing axis of the stage
-            fps: The number of frames per second to use in the USD file
-            scaling: Scaling factor to use for the entities in the scene
-        """
-        try:
-            from pxr import Usd, UsdGeom, UsdLux, Sdf, Gf
-        except ImportError:
-            raise ImportError("Failed to import pxr. Please install USD (e.g. via `pip install usd-core`).")
-
-        if isinstance(stage, str):
-            self.stage = stage = Usd.Stage.CreateNew(stage)
-        elif isinstance(stage, Usd.Stage):
-            self.stage = stage
-        else:
-            print("Failed to create stage in renderer. Please construct with stage path or stage object.")
-        self.up_axis = up_axis.upper()
-        self.fps = float(fps)
-        self.time = 0.0
-
-        self.draw_points = True
-        self.draw_springs = False
-        self.draw_triangles = False
-
-        self.root = UsdGeom.Xform.Define(stage, "/root")
-
-        # mapping from shape ID to UsdGeom class
-        self._shape_constructors = {}
-        # optional scaling applied to shape instances (e.g. cubes)
-        self._shape_custom_scale = {}
-
-        # apply scaling
-        self.root.ClearXformOpOrder()
-        s = self.root.AddScaleOp()
-        s.Set(Gf.Vec3d(float(scaling), float(scaling), float(scaling)), 0.0)
-
-        self.stage.SetDefaultPrim(self.root.GetPrim())
-        self.stage.SetStartTimeCode(0.0)
-        self.stage.SetEndTimeCode(0.0)
-        self.stage.SetTimeCodesPerSecond(self.fps)
-
-        if up_axis == "X":
-            UsdGeom.SetStageUpAxis(self.stage, UsdGeom.Tokens.x)
-        elif up_axis == "Y":
-            UsdGeom.SetStageUpAxis(self.stage, UsdGeom.Tokens.y)
-        elif up_axis == "Z":
-            UsdGeom.SetStageUpAxis(self.stage, UsdGeom.Tokens.z)
-
-        dome_light = UsdLux.DomeLight.Define(stage, "/dome_light")
-        dome_light.AddRotateXYZOp().Set((-90.0, -30.0, 0.0))
-        dome_light.GetEnableColorTemperatureAttr().Set(True)
-        dome_light.GetColorTemperatureAttr().Set(6150.0)
-        dome_light.GetIntensityAttr().Set(1.0)
-        dome_light.GetExposureAttr().Set(9.0)
-        dome_light.GetPrim().CreateAttribute("visibleInPrimaryRay", Sdf.ValueTypeNames.Bool).Set(False)
-
-        distant_light = UsdLux.DistantLight.Define(stage, "/distant_light")
-        distant_light.AddRotateXYZOp().Set((-35.0, 45.0, 0.0))
-        distant_light.GetEnableColorTemperatureAttr().Set(True)
-        distant_light.GetColorTemperatureAttr().Set(7250.0)
-        distant_light.GetIntensityAttr().Set(1.0)
-        distant_light.GetExposureAttr().Set(10.0)
-
-    def begin_frame(self, time):
-        self.time = round(time * self.fps)
-        self.stage.SetEndTimeCode(self.time)
-
-    def end_frame(self):
-        pass
-
-    def register_body(self, body_name):
-        from pxr import UsdGeom
-
-        xform = UsdGeom.Xform.Define(self.stage, self.root.GetPath().AppendChild(body_name))
-
-        _usd_add_xform(xform)
-
-    def _resolve_path(self, name, parent_body=None, is_template=False):
-        # resolve the path to the prim with the given name and optional parent body
-        if is_template:
-            return self.root.GetPath().AppendChild("_template_shapes").AppendChild(name)
-        if parent_body is None:
-            return self.root.GetPath().AppendChild(name)
-        else:
-            return self.root.GetPath().AppendChild(parent_body).AppendChild(name)
-
-    def add_shape_instance(
-        self,
-        name: str,
-        shape,
-        body,
-        pos: tuple,
-        rot: tuple,
-        scale: tuple = (1.0, 1.0, 1.0),
-        color: tuple = (1.0, 1.0, 1.0),
-        custom_index: int = -1,
-        visible: bool = True,
-    ):
-        if not visible:
-            return
-        sdf_path = self._resolve_path(name, body)
-        instance = self._shape_constructors[shape.name].Define(self.stage, sdf_path)
-        instance.GetPrim().GetReferences().AddInternalReference(shape)
-
-        _usd_add_xform(instance)
-        if shape.name in self._shape_custom_scale:
-            cs = self._shape_custom_scale[shape.name]
-            scale = (scale[0] * cs[0], scale[1] * cs[1], scale[2] * cs[2])
-        _usd_set_xform(instance, pos, rot, scale, self.time)
-
-    def render_plane(
-        self,
-        name: str,
-        pos: tuple,
-        rot: tuple,
-        width: float,
-        length: float,
-        color: tuple = None,
-        parent_body: str = None,
-        is_template: bool = False,
-    ):
-        """
-        Render a plane with the given dimensions.
-
-        Args:
-            name: Name of the plane
-            pos: Position of the plane
-            rot: Rotation of the plane
-            width: Width of the plane
-            length: Length of the plane
-            color: Color of the plane
-            parent_body: Name of the parent body
-            is_template: Whether the plane is a template
-        """
-        from pxr import UsdGeom, Sdf
-
-        if is_template:
-            prim_path = self._resolve_path(name, parent_body, is_template)
-            blueprint = UsdGeom.Scope.Define(self.stage, prim_path)
-            blueprint_prim = blueprint.GetPrim()
-            blueprint_prim.SetInstanceable(True)
-            blueprint_prim.SetSpecifier(Sdf.SpecifierClass)
-            plane_path = prim_path.AppendChild("plane")
-        else:
-            plane_path = self._resolve_path(name, parent_body)
-            prim_path = plane_path
-
-        plane = UsdGeom.Mesh.Get(self.stage, plane_path)
-        if not plane:
-            plane = UsdGeom.Mesh.Define(self.stage, plane_path)
-            plane.CreateDoubleSidedAttr().Set(True)
-
-            width = width if width > 0.0 else 100.0
-            length = length if length > 0.0 else 100.0
-            points = ((-width, 0.0, -length), (width, 0.0, -length), (width, 0.0, length), (-width, 0.0, length))
-            normals = ((0.0, 1.0, 0.0), (0.0, 1.0, 0.0), (0.0, 1.0, 0.0), (0.0, 1.0, 0.0))
-            counts = (4,)
-            indices = [0, 1, 2, 3]
-
-            plane.GetPointsAttr().Set(points)
-            plane.GetNormalsAttr().Set(normals)
-            plane.GetFaceVertexCountsAttr().Set(counts)
-            plane.GetFaceVertexIndicesAttr().Set(indices)
-            _usd_add_xform(plane)
-
-        self._shape_constructors[name] = UsdGeom.Mesh
-
-        if not is_template:
-            _usd_set_xform(plane, pos, rot, (1.0, 1.0, 1.0), 0.0)
-
-        return prim_path
-
-    def render_ground(self, size: float = 100.0, plane=None):
-        from pxr import UsdGeom
-
-        mesh = UsdGeom.Mesh.Define(self.stage, self.root.GetPath().AppendChild("ground"))
-        mesh.CreateDoubleSidedAttr().Set(True)
-
-        if self.up_axis == "X":
-            points = ((0.0, -size, -size), (0.0, size, -size), (0.0, size, size), (0.0, -size, size))
-            normals = ((1.0, 0.0, 0.0), (1.0, 0.0, 0.0), (1.0, 0.0, 0.0), (1.0, 0.0, 0.0))
-        elif self.up_axis == "Y":
-            points = ((-size, 0.0, -size), (size, 0.0, -size), (size, 0.0, size), (-size, 0.0, size))
-            normals = ((0.0, 1.0, 0.0), (0.0, 1.0, 0.0), (0.0, 1.0, 0.0), (0.0, 1.0, 0.0))
-        elif self.up_axis == "Z":
-            points = ((-size, -size, 0.0), (size, -size, 0.0), (size, size, 0.0), (-size, size, 0.0))
-            normals = ((0.0, 0.0, 1.0), (0.0, 0.0, 1.0), (0.0, 0.0, 1.0), (0.0, 0.0, 1.0))
-        if plane is not None:
-            normal = np.array(plane[:3])
-            normal /= np.linalg.norm(normal)
-            pos = plane[3] * normal
-            axis_up = [0.0, 0.0, 0.0]
-            axis_up["XYZ".index(self.up_axis)] = 1.0
-            if np.allclose(normal, axis_up):
-                # no rotation necessary
-                q = (0.0, 0.0, 0.0, 1.0)
-            else:
-                c = np.cross(normal, axis_up)
-                angle = np.arcsin(np.linalg.norm(c))
-                axis = np.abs(c) / np.linalg.norm(c)
-                q = wp.quat_from_axis_angle(axis, angle)
-            tf = wp.transform(pos, q)
-            points = [wp.transform_point(tf, p) for p in points]
-            normals = [wp.transform_vector(tf, n) for n in normals]
-        counts = (4,)
-        indices = [0, 1, 2, 3]
-
-        mesh.GetPointsAttr().Set(points)
-        mesh.GetNormalsAttr().Set(normals)
-        mesh.GetFaceVertexCountsAttr().Set(counts)
-        mesh.GetFaceVertexIndicesAttr().Set(indices)
-
-    def render_sphere(
-        self, name: str, pos: tuple, rot: tuple, radius: float, parent_body: str = None, is_template: bool = False, color: tuple = None
-    ):
-        """Debug helper to add a sphere for visualization
-
-        Args:
-            pos: The position of the sphere
-            radius: The radius of the sphere
-            name: A name for the USD prim on the stage
-            color: The color of the sphere
-        """
-
-        from pxr import Gf, UsdGeom, Sdf
-
-        if is_template:
-            prim_path = self._resolve_path(name, parent_body, is_template)
-            blueprint = UsdGeom.Scope.Define(self.stage, prim_path)
-            blueprint_prim = blueprint.GetPrim()
-            blueprint_prim.SetInstanceable(True)
-            blueprint_prim.SetSpecifier(Sdf.SpecifierClass)
-            sphere_path = prim_path.AppendChild("sphere")
-        else:
-            sphere_path = self._resolve_path(name, parent_body)
-            prim_path = sphere_path
-
-        sphere = UsdGeom.Sphere.Get(self.stage, sphere_path)
-        if not sphere:
-            sphere = UsdGeom.Sphere.Define(self.stage, sphere_path)
-            _usd_add_xform(sphere)
-
-        sphere.GetRadiusAttr().Set(radius, self.time)
-
-        if color is not None:
-            sphere.GetDisplayColorAttr().Set([Gf.Vec3f(color)], self.time)
-
-        self._shape_constructors[name] = UsdGeom.Sphere
-
-        if not is_template:
-            _usd_set_xform(sphere, pos, rot, (1.0, 1.0, 1.0), self.time)
-
-        return prim_path
-
-    def render_capsule(
-        self,
-        name: str,
-        pos: tuple,
-        rot: tuple,
-        radius: float,
-        half_height: float,
-        parent_body: str = None,
-        is_template: bool = False,
-        color: tuple = None,
-    ):
-        """
-        Debug helper to add a capsule for visualization
-
-        Args:
-            pos: The position of the capsule
-            radius: The radius of the capsule
-            half_height: The half height of the capsule
-            name: A name for the USD prim on the stage
-            color: The color of the capsule
-        """
-
-        from pxr import Gf, UsdGeom, Sdf
-
-        if is_template:
-            prim_path = self._resolve_path(name, parent_body, is_template)
-            blueprint = UsdGeom.Scope.Define(self.stage, prim_path)
-            blueprint_prim = blueprint.GetPrim()
-            blueprint_prim.SetInstanceable(True)
-            blueprint_prim.SetSpecifier(Sdf.SpecifierClass)
-            capsule_path = prim_path.AppendChild("capsule")
-        else:
-            capsule_path = self._resolve_path(name, parent_body)
-            prim_path = capsule_path
-
-        capsule = UsdGeom.Capsule.Get(self.stage, capsule_path)
-        if not capsule:
-            capsule = UsdGeom.Capsule.Define(self.stage, capsule_path)
-            _usd_add_xform(capsule)
-
-        capsule.GetRadiusAttr().Set(float(radius))
-        capsule.GetHeightAttr().Set(float(half_height * 2.0))
-        capsule.GetAxisAttr().Set("Y")
-
-        if color is not None:
-            capsule.GetDisplayColorAttr().Set([Gf.Vec3f(color)], self.time)
-
-        self._shape_constructors[name] = UsdGeom.Capsule
-
-        if not is_template:
-            _usd_set_xform(capsule, pos, rot, (1.0, 1.0, 1.0), self.time)
-
-        return prim_path
-
-    def render_cylinder(
-        self,
-        name: str,
-        pos: tuple,
-        rot: tuple,
-        radius: float,
-        half_height: float,
-        parent_body: str = None,
-        is_template: bool = False,
-        color: tuple = None,
-    ):
-        """
-        Debug helper to add a cylinder for visualization
-
-        Args:
-            pos: The position of the cylinder
-            radius: The radius of the cylinder
-            half_height: The half height of the cylinder
-            name: A name for the USD prim on the stage
-            color: The color of the cylinder
-        """
-
-        from pxr import Gf, UsdGeom, Sdf
-
-        if is_template:
-            prim_path = self._resolve_path(name, parent_body, is_template)
-            blueprint = UsdGeom.Scope.Define(self.stage, prim_path)
-            blueprint_prim = blueprint.GetPrim()
-            blueprint_prim.SetInstanceable(True)
-            blueprint_prim.SetSpecifier(Sdf.SpecifierClass)
-            cylinder_path = prim_path.AppendChild("cylinder")
-        else:
-            cylinder_path = self._resolve_path(name, parent_body)
-            prim_path = cylinder_path
-
-        cylinder = UsdGeom.Cylinder.Get(self.stage, cylinder_path)
-        if not cylinder:
-            cylinder = UsdGeom.Cylinder.Define(self.stage, cylinder_path)
-            _usd_add_xform(cylinder)
-
-        cylinder.GetRadiusAttr().Set(float(radius))
-        cylinder.GetHeightAttr().Set(float(half_height * 2.0))
-        cylinder.GetAxisAttr().Set("Y")
-
-        if color is not None:
-            cylinder.GetDisplayColorAttr().Set([Gf.Vec3f(color)], self.time)
-
-        self._shape_constructors[name] = UsdGeom.Cylinder
-
-        if not is_template:
-            _usd_set_xform(cylinder, pos, rot, (1.0, 1.0, 1.0), self.time)
-
-        return prim_path
-
-    def render_cone(
-        self,
-        name: str,
-        pos: tuple,
-        rot: tuple,
-        radius: float,
-        half_height: float,
-        parent_body: str = None,
-        is_template: bool = False,
-        color: tuple = None,
-    ):
-        """
-        Debug helper to add a cone for visualization
-
-        Args:
-            pos: The position of the cone
-            radius: The radius of the cone
-            half_height: The half height of the cone
-            name: A name for the USD prim on the stage
-            color: The color of the cone
-        """
-
-        from pxr import Gf, UsdGeom, Sdf
-
-        if is_template:
-            prim_path = self._resolve_path(name, parent_body, is_template)
-            blueprint = UsdGeom.Scope.Define(self.stage, prim_path)
-            blueprint_prim = blueprint.GetPrim()
-            blueprint_prim.SetInstanceable(True)
-            blueprint_prim.SetSpecifier(Sdf.SpecifierClass)
-            cone_path = prim_path.AppendChild("cone")
-        else:
-            cone_path = self._resolve_path(name, parent_body)
-            prim_path = cone_path
-
-        cone = UsdGeom.Cone.Get(self.stage, cone_path)
-        if not cone:
-            cone = UsdGeom.Cone.Define(self.stage, cone_path)
-            _usd_add_xform(cone)
-
-        cone.GetRadiusAttr().Set(float(radius))
-        cone.GetHeightAttr().Set(float(half_height * 2.0))
-        cone.GetAxisAttr().Set("Y")
-
-        if color is not None:
-            cone.GetDisplayColorAttr().Set([Gf.Vec3f(color)], self.time)
-
-        self._shape_constructors[name] = UsdGeom.Cone
-
-        if not is_template:
-            _usd_set_xform(cone, pos, rot, (1.0, 1.0, 1.0), self.time)
-
-        return prim_path
-
-    def render_box(
-        self, name: str, pos: tuple, rot: tuple, extents: tuple, parent_body: str = None, is_template: bool = False, color: tuple = None
-    ):
-        """Debug helper to add a box for visualization
-
-        Args:
-            pos: The position of the box
-            extents: The radius of the box
-            name: A name for the USD prim on the stage
-            color: The color of the box
-        """
-
-        from pxr import UsdGeom, Sdf, Gf
-
-        if is_template:
-            prim_path = self._resolve_path(name, parent_body, is_template)
-            blueprint = UsdGeom.Scope.Define(self.stage, prim_path)
-            blueprint_prim = blueprint.GetPrim()
-            blueprint_prim.SetInstanceable(True)
-            blueprint_prim.SetSpecifier(Sdf.SpecifierClass)
-            cube_path = prim_path.AppendChild("cube")
-        else:
-            cube_path = self._resolve_path(name, parent_body)
-            prim_path = cube_path
-
-        cube = UsdGeom.Cube.Get(self.stage, cube_path)
-        if not cube:
-            cube = UsdGeom.Cube.Define(self.stage, cube_path)
-            _usd_add_xform(cube)
-
-        if color is not None:
-            cube.GetDisplayColorAttr().Set([Gf.Vec3f(color)], self.time)
-
-        self._shape_constructors[name] = UsdGeom.Cube
-        self._shape_custom_scale[name] = extents
-
-        if not is_template:
-            _usd_set_xform(cube, pos, rot, extents, self.time)
-
-        return prim_path
-
-    def render_ref(self, name: str, path: str, pos: tuple, rot: tuple, scale: tuple):
-        from pxr import UsdGeom
-
-        ref_path = "/root/" + name
-
-        ref = UsdGeom.Xform.Get(self.stage, ref_path)
-        if not ref:
-            ref = UsdGeom.Xform.Define(self.stage, ref_path)
-            ref.GetPrim().GetReferences().AddReference(path)
-            _usd_add_xform(ref)
-
-        # update transform
-        _usd_set_xform(ref, pos, rot, scale, self.time)
-
-    def render_mesh(
-        self,
-        name: str,
-        points,
-        indices,
-        colors=None,
-        pos=(0.0, 0.0, 0.0),
-        rot=(0.0, 0.0, 0.0, 1.0),
-        scale=(1.0, 1.0, 1.0),
-        update_topology=False,
-        parent_body: str = None,
-        is_template: bool = False,
-    ):
-        from pxr import UsdGeom, Sdf
-
-        if is_template:
-            prim_path = self._resolve_path(name, parent_body, is_template)
-            blueprint = UsdGeom.Scope.Define(self.stage, prim_path)
-            blueprint_prim = blueprint.GetPrim()
-            blueprint_prim.SetInstanceable(True)
-            blueprint_prim.SetSpecifier(Sdf.SpecifierClass)
-            mesh_path = prim_path.AppendChild("mesh")
-        else:
-            mesh_path = self._resolve_path(name, parent_body)
-            prim_path = mesh_path
-
-        mesh = UsdGeom.Mesh.Get(self.stage, mesh_path)
-        if not mesh:
-            mesh = UsdGeom.Mesh.Define(self.stage, mesh_path)
-            UsdGeom.Primvar(mesh.GetDisplayColorAttr()).SetInterpolation("vertex")
-            _usd_add_xform(mesh)
-
-            # force topology update on first frame
-            update_topology = True
-
-        mesh.GetPointsAttr().Set(points, self.time)
-
-        if update_topology:
-            idxs = np.array(indices).reshape(-1, 3)
-            mesh.GetFaceVertexIndicesAttr().Set(idxs, self.time)
-            mesh.GetFaceVertexCountsAttr().Set([3] * len(idxs), self.time)
-
-        if colors:
-            mesh.GetDisplayColorAttr().Set(colors, self.time)
-
-        self._shape_constructors[name] = UsdGeom.Mesh
-        self._shape_custom_scale[name] = scale
-
-        if not is_template:
-            _usd_set_xform(mesh, pos, rot, scale, self.time)
-
-        return prim_path
-
-    def render_line_list(self, name, vertices, indices, color, radius):
-        """Debug helper to add a line list as a set of capsules
-
-        Args:
-            vertices: The vertices of the line-strip
-            color: The color of the line
-            time: The time to update at
-        """
-
-        from pxr import UsdGeom, Gf
-
-        num_lines = int(len(indices) / 2)
-
-        if num_lines < 1:
-            return
-
-        # look up rope point instancer
-        instancer_path = self.root.GetPath().AppendChild(name)
-        instancer = UsdGeom.PointInstancer.Get(self.stage, instancer_path)
-
-        if not instancer:
-            instancer = UsdGeom.PointInstancer.Define(self.stage, instancer_path)
-            instancer_capsule = UsdGeom.Capsule.Define(self.stage, instancer.GetPath().AppendChild("capsule"))
-            instancer_capsule.GetRadiusAttr().Set(radius)
-            instancer.CreatePrototypesRel().SetTargets([instancer_capsule.GetPath()])
-            # instancer.CreatePrimvar("displayColor", Sdf.ValueTypeNames.Float3Array, "constant", 1)
-
-        line_positions = []
-        line_rotations = []
-        line_scales = []
-
-        for i in range(num_lines):
-            pos0 = vertices[indices[i * 2 + 0]]
-            pos1 = vertices[indices[i * 2 + 1]]
-
-            (pos, rot, scale) = _compute_segment_xform(
-                Gf.Vec3f(float(pos0[0]), float(pos0[1]), float(pos0[2])),
-                Gf.Vec3f(float(pos1[0]), float(pos1[1]), float(pos1[2])),
-            )
-
-            line_positions.append(pos)
-            line_rotations.append(rot)
-            line_scales.append(scale)
-            # line_colors.append(Gf.Vec3f((float(i)/num_lines, 0.5, 0.5)))
-
-        instancer.GetPositionsAttr().Set(line_positions, self.time)
-        instancer.GetOrientationsAttr().Set(line_rotations, self.time)
-        instancer.GetScalesAttr().Set(line_scales, self.time)
-        instancer.GetProtoIndicesAttr().Set([0] * num_lines, self.time)
-
-    #      instancer.GetPrimvar("displayColor").Set(line_colors, time)
-
-    def render_line_strip(self, name: str, vertices, color: tuple, radius: float = 0.01):
-        from pxr import UsdGeom, Gf
-
-        num_lines = int(len(vertices) - 1)
-
-        if num_lines < 1:
-            return
-
-        # look up rope point instancer
-        instancer_path = self.root.GetPath().AppendChild(name)
-        instancer = UsdGeom.PointInstancer.Get(self.stage, instancer_path)
-
-        if not instancer:
-            instancer = UsdGeom.PointInstancer.Define(self.stage, instancer_path)
-            instancer_capsule = UsdGeom.Capsule.Define(self.stage, instancer.GetPath().AppendChild("capsule"))
-            instancer_capsule.GetRadiusAttr().Set(radius)
-            instancer.CreatePrototypesRel().SetTargets([instancer_capsule.GetPath()])
-
-        line_positions = []
-        line_rotations = []
-        line_scales = []
-
-        for i in range(num_lines):
-            pos0 = vertices[i]
-            pos1 = vertices[i + 1]
-
-            (pos, rot, scale) = _compute_segment_xform(
-                Gf.Vec3f(float(pos0[0]), float(pos0[1]), float(pos0[2])),
-                Gf.Vec3f(float(pos1[0]), float(pos1[1]), float(pos1[2])),
-            )
-
-            line_positions.append(pos)
-            line_rotations.append(rot)
-            line_scales.append(scale)
-
-        instancer.GetPositionsAttr().Set(line_positions, self.time)
-        instancer.GetOrientationsAttr().Set(line_rotations, self.time)
-        instancer.GetScalesAttr().Set(line_scales, self.time)
-        instancer.GetProtoIndicesAttr().Set([0] * num_lines, self.time)
-
-        instancer_capsule = UsdGeom.Capsule.Get(self.stage, instancer.GetPath().AppendChild("capsule"))
-        instancer_capsule.GetDisplayColorAttr().Set([Gf.Vec3f(color)], self.time)
-
-    def render_points(self, name: str, points, radius, colors=None):
-        from pxr import UsdGeom, Gf
-
-        instancer_path = self.root.GetPath().AppendChild(name)
-        instancer = UsdGeom.PointInstancer.Get(self.stage, instancer_path)
-        radius_is_scalar = np.isscalar(radius)
-        if not instancer:
-            if colors is None or len(colors) == 3:
-                instancer = UsdGeom.PointInstancer.Define(self.stage, instancer_path)
-                instancer_sphere = UsdGeom.Sphere.Define(self.stage, instancer.GetPath().AppendChild("sphere"))
-                if radius_is_scalar:
-                    instancer_sphere.GetRadiusAttr().Set(radius)
-                else:
-                    instancer_sphere.GetRadiusAttr().Set(1.0)
-                    instancer.GetScalesAttr().Set(np.tile(radius, (3, 1)).T)
-
-                if colors is not None:
-                    instancer_sphere.GetDisplayColorAttr().Set([Gf.Vec3f(colors)], self.time)
-
-                instancer.CreatePrototypesRel().SetTargets([instancer_sphere.GetPath()])
-                instancer.CreateProtoIndicesAttr().Set([0] * len(points))
-
-                # set identity rotations
-                quats = [Gf.Quath(1.0, 0.0, 0.0, 0.0)] * len(points)
-                instancer.GetOrientationsAttr().Set(quats, self.time)
-            else:
-                from pxr import Sdf
-
-                instancer = UsdGeom.Points.Define(self.stage, instancer_path)
-
-                if radius_is_scalar:
-                    instancer.GetWidthsAttr().Set([radius * 2.0] * len(points))
-                else:
-                    instancer.GetWidthsAttr().Set(radius * 2.0)
-
-        if colors is None or len(colors) == 3:
-            instancer.GetPositionsAttr().Set(points, self.time)
-        else:
-            instancer.GetPointsAttr().Set(points, self.time)
-            instancer.GetDisplayColorAttr().Set(colors, self.time)
-
-    def update_body_transforms(self, body_q):
-        from pxr import UsdGeom, Sdf
-
-        if isinstance(body_q, wp.array):
-            body_q = body_q.numpy()
-
-        with Sdf.ChangeBlock():
-            for b in range(self.model.body_count):
-                node_name = self.body_names[b]
-                node = UsdGeom.Xform(self.stage.GetPrimAtPath(self.root.GetPath().AppendChild(node_name)))
-
-                # unpack rigid transform
-                X_sb = wp.transform_expand(body_q[b])
-
-                _usd_set_xform(node, X_sb.p, X_sb.q, (1.0, 1.0, 1.0), self.time)
-
-    def save(self):
-        try:
-            self.stage.Save()
-        except Exception as e:
-            print("Failed to save USD stage:", e)
-            return False
-
-        file_path = self.stage.GetRootLayer().realPath
-        print(f"Saved the USD stage file at `{file_path}`")
-        return True
+# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+import numpy as np
+
+import warp as wp
+
+
+def _usd_add_xform(prim):
+    from pxr import UsdGeom
+
+    prim = UsdGeom.Xform(prim)
+    prim.ClearXformOpOrder()
+
+    prim.AddTranslateOp()
+    prim.AddOrientOp()
+    prim.AddScaleOp()
+
+
+def _usd_set_xform(xform, pos: tuple, rot: tuple, scale: tuple, time):
+    from pxr import Gf, UsdGeom
+
+    xform = UsdGeom.Xform(xform)
+
+    xform_ops = xform.GetOrderedXformOps()
+
+    if pos is not None:
+        xform_ops[0].Set(Gf.Vec3d(float(pos[0]), float(pos[1]), float(pos[2])), time)
+    if rot is not None:
+        xform_ops[1].Set(Gf.Quatf(float(rot[3]), float(rot[0]), float(rot[1]), float(rot[2])), time)
+    if scale is not None:
+        xform_ops[2].Set(Gf.Vec3d(float(scale[0]), float(scale[1]), float(scale[2])), time)
+
+
+# transforms a cylinder such that it connects the two points pos0, pos1
+def _compute_segment_xform(pos0, pos1):
+    from pxr import Gf
+
+    mid = (pos0 + pos1) * 0.5
+    height = (pos1 - pos0).GetLength()
+
+    dir = (pos1 - pos0) / height
+
+    rot = Gf.Rotation()
+    rot.SetRotateInto((0.0, 0.0, 1.0), Gf.Vec3d(dir))
+
+    scale = Gf.Vec3f(1.0, 1.0, height)
+
+    return (mid, Gf.Quath(rot.GetQuat()), scale)
+
+
+class UsdRenderer:
+    """A USD renderer"""
+
+    def __init__(self, stage, up_axis="Y", fps=60, scaling=1.0):
+        """Construct a UsdRenderer object
+
+        Args:
+            model: A simulation model
+            stage (str/Usd.Stage): A USD stage (either in memory or on disk)
+            up_axis (str): The upfacing axis of the stage
+            fps: The number of frames per second to use in the USD file
+            scaling: Scaling factor to use for the entities in the scene
+        """
+        try:
+            from pxr import Gf, Sdf, Usd, UsdGeom, UsdLux
+        except ImportError as e:
+            raise ImportError("Failed to import pxr. Please install USD (e.g. via `pip install usd-core`).") from e
+
+        if isinstance(stage, str):
+            self.stage = stage = Usd.Stage.CreateNew(stage)
+        elif isinstance(stage, Usd.Stage):
+            self.stage = stage
+        else:
+            print("Failed to create stage in renderer. Please construct with stage path or stage object.")
+        self.up_axis = up_axis.upper()
+        self.fps = float(fps)
+        self.time = 0.0
+
+        self.draw_points = True
+        self.draw_springs = False
+        self.draw_triangles = False
+
+        self.root = UsdGeom.Xform.Define(stage, "/root")
+
+        # mapping from shape ID to UsdGeom class
+        self._shape_constructors = {}
+        # optional scaling applied to shape instances (e.g. cubes)
+        self._shape_custom_scale = {}
+
+        # apply scaling
+        self.root.ClearXformOpOrder()
+        s = self.root.AddScaleOp()
+        s.Set(Gf.Vec3d(float(scaling), float(scaling), float(scaling)), 0.0)
+
+        self.stage.SetDefaultPrim(self.root.GetPrim())
+        self.stage.SetStartTimeCode(0.0)
+        self.stage.SetEndTimeCode(0.0)
+        self.stage.SetTimeCodesPerSecond(self.fps)
+
+        if up_axis == "X":
+            UsdGeom.SetStageUpAxis(self.stage, UsdGeom.Tokens.x)
+        elif up_axis == "Y":
+            UsdGeom.SetStageUpAxis(self.stage, UsdGeom.Tokens.y)
+        elif up_axis == "Z":
+            UsdGeom.SetStageUpAxis(self.stage, UsdGeom.Tokens.z)
+
+        dome_light = UsdLux.DomeLight.Define(stage, "/dome_light")
+        dome_light.AddRotateXYZOp().Set((-90.0, -30.0, 0.0))
+        dome_light.GetEnableColorTemperatureAttr().Set(True)
+        dome_light.GetColorTemperatureAttr().Set(6150.0)
+        dome_light.GetIntensityAttr().Set(1.0)
+        dome_light.GetExposureAttr().Set(9.0)
+        dome_light.GetPrim().CreateAttribute("visibleInPrimaryRay", Sdf.ValueTypeNames.Bool).Set(False)
+
+        distant_light = UsdLux.DistantLight.Define(stage, "/distant_light")
+        distant_light.AddRotateXYZOp().Set((-35.0, 45.0, 0.0))
+        distant_light.GetEnableColorTemperatureAttr().Set(True)
+        distant_light.GetColorTemperatureAttr().Set(7250.0)
+        distant_light.GetIntensityAttr().Set(1.0)
+        distant_light.GetExposureAttr().Set(10.0)
+
+    def begin_frame(self, time):
+        self.time = round(time * self.fps)
+        self.stage.SetEndTimeCode(self.time)
+
+    def end_frame(self):
+        pass
+
+    def register_body(self, body_name):
+        from pxr import UsdGeom
+
+        xform = UsdGeom.Xform.Define(self.stage, self.root.GetPath().AppendChild(body_name))
+
+        _usd_add_xform(xform)
+
+    def _resolve_path(self, name, parent_body=None, is_template=False):
+        # resolve the path to the prim with the given name and optional parent body
+        if is_template:
+            return self.root.GetPath().AppendChild("_template_shapes").AppendChild(name)
+        if parent_body is None:
+            return self.root.GetPath().AppendChild(name)
+        else:
+            return self.root.GetPath().AppendChild(parent_body).AppendChild(name)
+
+    def add_shape_instance(
+        self,
+        name: str,
+        shape,
+        body,
+        pos: tuple,
+        rot: tuple,
+        scale: tuple = (1.0, 1.0, 1.0),
+        color: tuple = (1.0, 1.0, 1.0),
+        custom_index: int = -1,
+        visible: bool = True,
+    ):
+        if not visible:
+            return
+        sdf_path = self._resolve_path(name, body)
+        instance = self._shape_constructors[shape.name].Define(self.stage, sdf_path)
+        instance.GetPrim().GetReferences().AddInternalReference(shape)
+
+        _usd_add_xform(instance)
+        if shape.name in self._shape_custom_scale:
+            cs = self._shape_custom_scale[shape.name]
+            scale = (scale[0] * cs[0], scale[1] * cs[1], scale[2] * cs[2])
+        _usd_set_xform(instance, pos, rot, scale, self.time)
+
+    def render_plane(
+        self,
+        name: str,
+        pos: tuple,
+        rot: tuple,
+        width: float,
+        length: float,
+        color: tuple = None,
+        parent_body: str = None,
+        is_template: bool = False,
+    ):
+        """
+        Render a plane with the given dimensions.
+
+        Args:
+            name: Name of the plane
+            pos: Position of the plane
+            rot: Rotation of the plane
+            width: Width of the plane
+            length: Length of the plane
+            color: Color of the plane
+            parent_body: Name of the parent body
+            is_template: Whether the plane is a template
+        """
+        from pxr import Sdf, UsdGeom
+
+        if is_template:
+            prim_path = self._resolve_path(name, parent_body, is_template)
+            blueprint = UsdGeom.Scope.Define(self.stage, prim_path)
+            blueprint_prim = blueprint.GetPrim()
+            blueprint_prim.SetInstanceable(True)
+            blueprint_prim.SetSpecifier(Sdf.SpecifierClass)
+            plane_path = prim_path.AppendChild("plane")
+        else:
+            plane_path = self._resolve_path(name, parent_body)
+            prim_path = plane_path
+
+        plane = UsdGeom.Mesh.Get(self.stage, plane_path)
+        if not plane:
+            plane = UsdGeom.Mesh.Define(self.stage, plane_path)
+            plane.CreateDoubleSidedAttr().Set(True)
+
+            width = width if width > 0.0 else 100.0
+            length = length if length > 0.0 else 100.0
+            points = ((-width, 0.0, -length), (width, 0.0, -length), (width, 0.0, length), (-width, 0.0, length))
+            normals = ((0.0, 1.0, 0.0), (0.0, 1.0, 0.0), (0.0, 1.0, 0.0), (0.0, 1.0, 0.0))
+            counts = (4,)
+            indices = [0, 1, 2, 3]
+
+            plane.GetPointsAttr().Set(points)
+            plane.GetNormalsAttr().Set(normals)
+            plane.GetFaceVertexCountsAttr().Set(counts)
+            plane.GetFaceVertexIndicesAttr().Set(indices)
+            _usd_add_xform(plane)
+
+        self._shape_constructors[name] = UsdGeom.Mesh
+
+        if not is_template:
+            _usd_set_xform(plane, pos, rot, (1.0, 1.0, 1.0), 0.0)
+
+        return prim_path
+
+    def render_ground(self, size: float = 100.0, plane=None):
+        from pxr import UsdGeom
+
+        mesh = UsdGeom.Mesh.Define(self.stage, self.root.GetPath().AppendChild("ground"))
+        mesh.CreateDoubleSidedAttr().Set(True)
+
+        if self.up_axis == "X":
+            points = ((0.0, size, -size), (0.0, -size, -size), (0.0, size, size), (0.0, -size, size))
+            normals = ((1.0, 0.0, 0.0), (1.0, 0.0, 0.0), (1.0, 0.0, 0.0), (1.0, 0.0, 0.0))
+        elif self.up_axis == "Y":
+            points = ((-size, 0.0, -size), (size, 0.0, -size), (-size, 0.0, size), (size, 0.0, size))
+            normals = ((0.0, 1.0, 0.0), (0.0, 1.0, 0.0), (0.0, 1.0, 0.0), (0.0, 1.0, 0.0))
+        elif self.up_axis == "Z":
+            points = ((-size, size, 0.0), (size, size, 0.0), (-size, -size, 0.0), (size, -size, 0.0))
+            normals = ((0.0, 0.0, 1.0), (0.0, 0.0, 1.0), (0.0, 0.0, 1.0), (0.0, 0.0, 1.0))
+        if plane is not None:
+            normal = np.array(plane[:3])
+            normal /= np.linalg.norm(normal)
+            pos = plane[3] * normal
+            axis_up = [0.0, 0.0, 0.0]
+            axis_up["XYZ".index(self.up_axis)] = 1.0
+            if np.allclose(normal, axis_up):
+                # no rotation necessary
+                q = (0.0, 0.0, 0.0, 1.0)
+            else:
+                c = np.cross(normal, axis_up)
+                angle = np.arcsin(np.linalg.norm(c))
+                axis = np.abs(c) / np.linalg.norm(c)
+                q = wp.quat_from_axis_angle(axis, angle)
+            tf = wp.transform(pos, q)
+            points = [wp.transform_point(tf, wp.vec3(p)) for p in points]
+            normals = [wp.transform_vector(tf, wp.vec3(n)) for n in normals]
+        counts = (4,)
+        indices = [0, 2, 3, 1]
+
+        mesh.GetPointsAttr().Set(points)
+        mesh.GetNormalsAttr().Set(normals)
+        mesh.GetFaceVertexCountsAttr().Set(counts)
+        mesh.GetFaceVertexIndicesAttr().Set(indices)
+
+    def render_sphere(
+        self,
+        name: str,
+        pos: tuple,
+        rot: tuple,
+        radius: float,
+        parent_body: str = None,
+        is_template: bool = False,
+        color: tuple = None,
+    ):
+        """Debug helper to add a sphere for visualization
+
+        Args:
+            pos: The position of the sphere
+            radius: The radius of the sphere
+            name: A name for the USD prim on the stage
+            color: The color of the sphere
+        """
+
+        from pxr import Gf, Sdf, UsdGeom
+
+        if is_template:
+            prim_path = self._resolve_path(name, parent_body, is_template)
+            blueprint = UsdGeom.Scope.Define(self.stage, prim_path)
+            blueprint_prim = blueprint.GetPrim()
+            blueprint_prim.SetInstanceable(True)
+            blueprint_prim.SetSpecifier(Sdf.SpecifierClass)
+            sphere_path = prim_path.AppendChild("sphere")
+        else:
+            sphere_path = self._resolve_path(name, parent_body)
+            prim_path = sphere_path
+
+        sphere = UsdGeom.Sphere.Get(self.stage, sphere_path)
+        if not sphere:
+            sphere = UsdGeom.Sphere.Define(self.stage, sphere_path)
+            _usd_add_xform(sphere)
+
+        sphere.GetRadiusAttr().Set(radius, self.time)
+
+        if color is not None:
+            sphere.GetDisplayColorAttr().Set([Gf.Vec3f(color)], self.time)
+
+        self._shape_constructors[name] = UsdGeom.Sphere
+
+        if not is_template:
+            _usd_set_xform(sphere, pos, rot, (1.0, 1.0, 1.0), self.time)
+
+        return prim_path
+
+    def render_capsule(
+        self,
+        name: str,
+        pos: tuple,
+        rot: tuple,
+        radius: float,
+        half_height: float,
+        parent_body: str = None,
+        is_template: bool = False,
+        color: tuple = None,
+    ):
+        """
+        Debug helper to add a capsule for visualization
+
+        Args:
+            pos: The position of the capsule
+            radius: The radius of the capsule
+            half_height: The half height of the capsule
+            name: A name for the USD prim on the stage
+            color: The color of the capsule
+        """
+
+        from pxr import Gf, Sdf, UsdGeom
+
+        if is_template:
+            prim_path = self._resolve_path(name, parent_body, is_template)
+            blueprint = UsdGeom.Scope.Define(self.stage, prim_path)
+            blueprint_prim = blueprint.GetPrim()
+            blueprint_prim.SetInstanceable(True)
+            blueprint_prim.SetSpecifier(Sdf.SpecifierClass)
+            capsule_path = prim_path.AppendChild("capsule")
+        else:
+            capsule_path = self._resolve_path(name, parent_body)
+            prim_path = capsule_path
+
+        capsule = UsdGeom.Capsule.Get(self.stage, capsule_path)
+        if not capsule:
+            capsule = UsdGeom.Capsule.Define(self.stage, capsule_path)
+            _usd_add_xform(capsule)
+
+        capsule.GetRadiusAttr().Set(float(radius))
+        capsule.GetHeightAttr().Set(float(half_height * 2.0))
+        capsule.GetAxisAttr().Set("Y")
+
+        if color is not None:
+            capsule.GetDisplayColorAttr().Set([Gf.Vec3f(color)], self.time)
+
+        self._shape_constructors[name] = UsdGeom.Capsule
+
+        if not is_template:
+            _usd_set_xform(capsule, pos, rot, (1.0, 1.0, 1.0), self.time)
+
+        return prim_path
+
+    def render_cylinder(
+        self,
+        name: str,
+        pos: tuple,
+        rot: tuple,
+        radius: float,
+        half_height: float,
+        parent_body: str = None,
+        is_template: bool = False,
+        color: tuple = None,
+    ):
+        """
+        Debug helper to add a cylinder for visualization
+
+        Args:
+            pos: The position of the cylinder
+            radius: The radius of the cylinder
+            half_height: The half height of the cylinder
+            name: A name for the USD prim on the stage
+            color: The color of the cylinder
+        """
+
+        from pxr import Gf, Sdf, UsdGeom
+
+        if is_template:
+            prim_path = self._resolve_path(name, parent_body, is_template)
+            blueprint = UsdGeom.Scope.Define(self.stage, prim_path)
+            blueprint_prim = blueprint.GetPrim()
+            blueprint_prim.SetInstanceable(True)
+            blueprint_prim.SetSpecifier(Sdf.SpecifierClass)
+            cylinder_path = prim_path.AppendChild("cylinder")
+        else:
+            cylinder_path = self._resolve_path(name, parent_body)
+            prim_path = cylinder_path
+
+        cylinder = UsdGeom.Cylinder.Get(self.stage, cylinder_path)
+        if not cylinder:
+            cylinder = UsdGeom.Cylinder.Define(self.stage, cylinder_path)
+            _usd_add_xform(cylinder)
+
+        cylinder.GetRadiusAttr().Set(float(radius))
+        cylinder.GetHeightAttr().Set(float(half_height * 2.0))
+        cylinder.GetAxisAttr().Set("Y")
+
+        if color is not None:
+            cylinder.GetDisplayColorAttr().Set([Gf.Vec3f(color)], self.time)
+
+        self._shape_constructors[name] = UsdGeom.Cylinder
+
+        if not is_template:
+            _usd_set_xform(cylinder, pos, rot, (1.0, 1.0, 1.0), self.time)
+
+        return prim_path
+
+    def render_cone(
+        self,
+        name: str,
+        pos: tuple,
+        rot: tuple,
+        radius: float,
+        half_height: float,
+        parent_body: str = None,
+        is_template: bool = False,
+        color: tuple = None,
+    ):
+        """
+        Debug helper to add a cone for visualization
+
+        Args:
+            pos: The position of the cone
+            radius: The radius of the cone
+            half_height: The half height of the cone
+            name: A name for the USD prim on the stage
+            color: The color of the cone
+        """
+
+        from pxr import Gf, Sdf, UsdGeom
+
+        if is_template:
+            prim_path = self._resolve_path(name, parent_body, is_template)
+            blueprint = UsdGeom.Scope.Define(self.stage, prim_path)
+            blueprint_prim = blueprint.GetPrim()
+            blueprint_prim.SetInstanceable(True)
+            blueprint_prim.SetSpecifier(Sdf.SpecifierClass)
+            cone_path = prim_path.AppendChild("cone")
+        else:
+            cone_path = self._resolve_path(name, parent_body)
+            prim_path = cone_path
+
+        cone = UsdGeom.Cone.Get(self.stage, cone_path)
+        if not cone:
+            cone = UsdGeom.Cone.Define(self.stage, cone_path)
+            _usd_add_xform(cone)
+
+        cone.GetRadiusAttr().Set(float(radius))
+        cone.GetHeightAttr().Set(float(half_height * 2.0))
+        cone.GetAxisAttr().Set("Y")
+
+        if color is not None:
+            cone.GetDisplayColorAttr().Set([Gf.Vec3f(color)], self.time)
+
+        self._shape_constructors[name] = UsdGeom.Cone
+
+        if not is_template:
+            _usd_set_xform(cone, pos, rot, (1.0, 1.0, 1.0), self.time)
+
+        return prim_path
+
+    def render_box(
+        self,
+        name: str,
+        pos: tuple,
+        rot: tuple,
+        extents: tuple,
+        parent_body: str = None,
+        is_template: bool = False,
+        color: tuple = None,
+    ):
+        """Debug helper to add a box for visualization
+
+        Args:
+            pos: The position of the box
+            extents: The radius of the box
+            name: A name for the USD prim on the stage
+            color: The color of the box
+        """
+
+        from pxr import Gf, Sdf, UsdGeom
+
+        if is_template:
+            prim_path = self._resolve_path(name, parent_body, is_template)
+            blueprint = UsdGeom.Scope.Define(self.stage, prim_path)
+            blueprint_prim = blueprint.GetPrim()
+            blueprint_prim.SetInstanceable(True)
+            blueprint_prim.SetSpecifier(Sdf.SpecifierClass)
+            cube_path = prim_path.AppendChild("cube")
+        else:
+            cube_path = self._resolve_path(name, parent_body)
+            prim_path = cube_path
+
+        cube = UsdGeom.Cube.Get(self.stage, cube_path)
+        if not cube:
+            cube = UsdGeom.Cube.Define(self.stage, cube_path)
+            _usd_add_xform(cube)
+
+        if color is not None:
+            cube.GetDisplayColorAttr().Set([Gf.Vec3f(color)], self.time)
+
+        self._shape_constructors[name] = UsdGeom.Cube
+        self._shape_custom_scale[name] = extents
+
+        if not is_template:
+            _usd_set_xform(cube, pos, rot, extents, self.time)
+
+        return prim_path
+
+    def render_ref(self, name: str, path: str, pos: tuple, rot: tuple, scale: tuple, color: tuple = None):
+        from pxr import Gf, Usd, UsdGeom
+
+        ref_path = "/root/" + name
+
+        ref = UsdGeom.Xform.Get(self.stage, ref_path)
+        if not ref:
+            ref = UsdGeom.Xform.Define(self.stage, ref_path)
+            ref.GetPrim().GetReferences().AddReference(path)
+            _usd_add_xform(ref)
+
+        # update transform
+        _usd_set_xform(ref, pos, rot, scale, self.time)
+
+        if color is not None:
+            it = iter(Usd.PrimRange(ref.GetPrim()))
+            for prim in it:
+                if prim.IsA(UsdGeom.Gprim):
+                    UsdGeom.Gprim(prim).GetDisplayColorAttr().Set([Gf.Vec3f(color)], self.time)
+                    it.PruneChildren()
+
+    def render_mesh(
+        self,
+        name: str,
+        points,
+        indices,
+        colors=None,
+        pos=(0.0, 0.0, 0.0),
+        rot=(0.0, 0.0, 0.0, 1.0),
+        scale=(1.0, 1.0, 1.0),
+        update_topology=False,
+        parent_body: str = None,
+        is_template: bool = False,
+    ):
+        from pxr import Sdf, UsdGeom
+
+        if is_template:
+            prim_path = self._resolve_path(name, parent_body, is_template)
+            blueprint = UsdGeom.Scope.Define(self.stage, prim_path)
+            blueprint_prim = blueprint.GetPrim()
+            blueprint_prim.SetInstanceable(True)
+            blueprint_prim.SetSpecifier(Sdf.SpecifierClass)
+            mesh_path = prim_path.AppendChild("mesh")
+        else:
+            mesh_path = self._resolve_path(name, parent_body)
+            prim_path = mesh_path
+
+        mesh = UsdGeom.Mesh.Get(self.stage, mesh_path)
+        if not mesh:
+            mesh = UsdGeom.Mesh.Define(self.stage, mesh_path)
+            UsdGeom.Primvar(mesh.GetDisplayColorAttr()).SetInterpolation("vertex")
+            _usd_add_xform(mesh)
+
+            # force topology update on first frame
+            update_topology = True
+
+        mesh.GetPointsAttr().Set(points, self.time)
+
+        if update_topology:
+            idxs = np.array(indices).reshape(-1, 3)
+            mesh.GetFaceVertexIndicesAttr().Set(idxs, self.time)
+            mesh.GetFaceVertexCountsAttr().Set([3] * len(idxs), self.time)
+
+        if colors:
+            mesh.GetDisplayColorAttr().Set(colors, self.time)
+
+        self._shape_constructors[name] = UsdGeom.Mesh
+        self._shape_custom_scale[name] = scale
+
+        if not is_template:
+            _usd_set_xform(mesh, pos, rot, scale, self.time)
+
+        return prim_path
+
+    def render_line_list(self, name, vertices, indices, color, radius):
+        """Debug helper to add a line list as a set of capsules
+
+        Args:
+            vertices: The vertices of the line-strip
+            color: The color of the line
+            time: The time to update at
+        """
+
+        from pxr import Gf, UsdGeom
+
+        num_lines = int(len(indices) / 2)
+
+        if num_lines < 1:
+            return
+
+        # look up rope point instancer
+        instancer_path = self.root.GetPath().AppendChild(name)
+        instancer = UsdGeom.PointInstancer.Get(self.stage, instancer_path)
+
+        if not instancer:
+            instancer = UsdGeom.PointInstancer.Define(self.stage, instancer_path)
+            instancer_capsule = UsdGeom.Capsule.Define(self.stage, instancer.GetPath().AppendChild("capsule"))
+            instancer_capsule.GetRadiusAttr().Set(radius)
+            instancer.CreatePrototypesRel().SetTargets([instancer_capsule.GetPath()])
+            # instancer.CreatePrimvar("displayColor", Sdf.ValueTypeNames.Float3Array, "constant", 1)
+
+        line_positions = []
+        line_rotations = []
+        line_scales = []
+
+        for i in range(num_lines):
+            pos0 = vertices[indices[i * 2 + 0]]
+            pos1 = vertices[indices[i * 2 + 1]]
+
+            (pos, rot, scale) = _compute_segment_xform(
+                Gf.Vec3f(float(pos0[0]), float(pos0[1]), float(pos0[2])),
+                Gf.Vec3f(float(pos1[0]), float(pos1[1]), float(pos1[2])),
+            )
+
+            line_positions.append(pos)
+            line_rotations.append(rot)
+            line_scales.append(scale)
+            # line_colors.append(Gf.Vec3f((float(i)/num_lines, 0.5, 0.5)))
+
+        instancer.GetPositionsAttr().Set(line_positions, self.time)
+        instancer.GetOrientationsAttr().Set(line_rotations, self.time)
+        instancer.GetScalesAttr().Set(line_scales, self.time)
+        instancer.GetProtoIndicesAttr().Set([0] * num_lines, self.time)
+
+    #      instancer.GetPrimvar("displayColor").Set(line_colors, time)
+
+    def render_line_strip(self, name: str, vertices, color: tuple, radius: float = 0.01):
+        from pxr import Gf, UsdGeom
+
+        num_lines = int(len(vertices) - 1)
+
+        if num_lines < 1:
+            return
+
+        # look up rope point instancer
+        instancer_path = self.root.GetPath().AppendChild(name)
+        instancer = UsdGeom.PointInstancer.Get(self.stage, instancer_path)
+
+        if not instancer:
+            instancer = UsdGeom.PointInstancer.Define(self.stage, instancer_path)
+            instancer_capsule = UsdGeom.Capsule.Define(self.stage, instancer.GetPath().AppendChild("capsule"))
+            instancer_capsule.GetRadiusAttr().Set(radius)
+            instancer.CreatePrototypesRel().SetTargets([instancer_capsule.GetPath()])
+
+        line_positions = []
+        line_rotations = []
+        line_scales = []
+
+        for i in range(num_lines):
+            pos0 = vertices[i]
+            pos1 = vertices[i + 1]
+
+            (pos, rot, scale) = _compute_segment_xform(
+                Gf.Vec3f(float(pos0[0]), float(pos0[1]), float(pos0[2])),
+                Gf.Vec3f(float(pos1[0]), float(pos1[1]), float(pos1[2])),
+            )
+
+            line_positions.append(pos)
+            line_rotations.append(rot)
+            line_scales.append(scale)
+
+        instancer.GetPositionsAttr().Set(line_positions, self.time)
+        instancer.GetOrientationsAttr().Set(line_rotations, self.time)
+        instancer.GetScalesAttr().Set(line_scales, self.time)
+        instancer.GetProtoIndicesAttr().Set([0] * num_lines, self.time)
+
+        instancer_capsule = UsdGeom.Capsule.Get(self.stage, instancer.GetPath().AppendChild("capsule"))
+        instancer_capsule.GetDisplayColorAttr().Set([Gf.Vec3f(color)], self.time)
+
+    def render_points(self, name: str, points, radius, colors=None):
+        from pxr import Gf, UsdGeom
+
+        instancer_path = self.root.GetPath().AppendChild(name)
+        instancer = UsdGeom.PointInstancer.Get(self.stage, instancer_path)
+        radius_is_scalar = np.isscalar(radius)
+        if not instancer:
+            if colors is None or len(colors) == 3:
+                instancer = UsdGeom.PointInstancer.Define(self.stage, instancer_path)
+                instancer_sphere = UsdGeom.Sphere.Define(self.stage, instancer.GetPath().AppendChild("sphere"))
+                if radius_is_scalar:
+                    instancer_sphere.GetRadiusAttr().Set(radius)
+                else:
+                    instancer_sphere.GetRadiusAttr().Set(1.0)
+                    instancer.GetScalesAttr().Set(np.tile(radius, (3, 1)).T)
+
+                if colors is not None:
+                    instancer_sphere.GetDisplayColorAttr().Set([Gf.Vec3f(colors)], self.time)
+
+                instancer.CreatePrototypesRel().SetTargets([instancer_sphere.GetPath()])
+                instancer.CreateProtoIndicesAttr().Set([0] * len(points))
+
+                # set identity rotations
+                quats = [Gf.Quath(1.0, 0.0, 0.0, 0.0)] * len(points)
+                instancer.GetOrientationsAttr().Set(quats, self.time)
+            else:
+                instancer = UsdGeom.Points.Define(self.stage, instancer_path)
+
+                if radius_is_scalar:
+                    instancer.GetWidthsAttr().Set([radius * 2.0] * len(points))
+                else:
+                    instancer.GetWidthsAttr().Set(radius * 2.0)
+
+        if colors is None or len(colors) == 3:
+            instancer.GetPositionsAttr().Set(points, self.time)
+        else:
+            instancer.GetPointsAttr().Set(points, self.time)
+            instancer.GetDisplayColorAttr().Set(colors, self.time)
+
+    def update_body_transforms(self, body_q):
+        from pxr import Sdf, UsdGeom
+
+        if isinstance(body_q, wp.array):
+            body_q = body_q.numpy()
+
+        with Sdf.ChangeBlock():
+            for b in range(self.model.body_count):
+                node_name = self.body_names[b]
+                node = UsdGeom.Xform(self.stage.GetPrimAtPath(self.root.GetPath().AppendChild(node_name)))
+
+                # unpack rigid transform
+                X_sb = wp.transform_expand(body_q[b])
+
+                _usd_set_xform(node, X_sb.p, X_sb.q, (1.0, 1.0, 1.0), self.time)
+
+    def save(self):
+        try:
+            self.stage.Save()
+        except Exception as e:
+            print("Failed to save USD stage:", e)
+            return False
+
+        file_path = self.stage.GetRootLayer().realPath
+        print(f"Saved the USD stage file at `{file_path}`")
+        return True