1. How can we visualize an object that stays in place, and is unaffected by gravity, collisions (objects just pass on through) etc? This is analogous to the "site" functionality in Mujoco. We want to use these objects are transparent markers, like a 3D user interface element.
2. How can we easily visualize a point cloud in 3D? By default, there is some visualization available already in the GUI, but I want to create something similar to point (1.) where I overlay the standard physics rendering etc. with a 3D point cloud.
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