Bug Description

Creating a SimRenderer via wp.sim.render.SimRenderer or its alias p.sim.render.SimRendererUsd allows to set the argument show_joints.

If this argument is set, rendering will fail: Joints are visualized using render_arrow (here), However, this method is only implemented for the OpenGL renderer.

It seems like rendering joints is currently not supported in Usd - which is not reflected in the existing code / function signatures.

System Information

No response