diff --git a/b3d/model.py b/b3d/model.py
index 54a888aa..4d0d00b3 100644
--- a/b3d/model.py
+++ b/b3d/model.py
@@ -200,4 +200,4 @@ def rerun_visualize_trace_t(trace, t, modes=["rgb", "depth", "inliers"]):
                     pose.apply(vertices),
                     colors=(attributes * 255).astype(jnp.uint8),
                 ),
-            )
\ No newline at end of file
+            )
diff --git a/b3d/pose.py b/b3d/pose.py
index c736cf89..1388bc88 100644
--- a/b3d/pose.py
+++ b/b3d/pose.py
@@ -90,6 +90,53 @@ def camera_from_position_and_target(
     rotation_matrix = jnp.hstack([x.reshape(-1, 1), y.reshape(-1, 1), z.reshape(-1, 1)])
     return Pose(position, Rot.from_matrix(rotation_matrix).as_quat())
 
+def rotation_from_axis_angle(axis, angle):
+    """Creates a rotation matrix from an axis and angle.
+
+    Args:
+        axis (jnp.ndarray): The axis vector. Shape (3,)
+        angle (float): The angle in radians.
+    Returns:
+        jnp.ndarray: The rotation matrix. Shape (3, 3)
+    """
+    sina = jnp.sin(angle)
+    cosa = jnp.cos(angle)
+    direction = axis / jnp.linalg.norm(axis)
+    # rotation matrix around unit vector
+    R = jnp.diag(jnp.array([cosa, cosa, cosa]))
+    R = R + jnp.outer(direction, direction) * (1.0 - cosa)
+    direction = direction * sina
+    R = R + jnp.array(
+        [
+            [0.0, -direction[2], direction[1]],
+            [direction[2], 0.0, -direction[0]],
+            [-direction[1], direction[0], 0.0],
+        ]
+    )
+    return R
+
+def from_rot(rotation):
+    """Creates a pose matrix from a rotation matrix.
+
+    Args:
+        rotation (jnp.ndarray): The rotation matrix. Shape (3, 3)
+    Returns:
+        Pose object
+    """
+    return Pose.from_matrix(jnp.vstack(
+        [jnp.hstack([rotation, jnp.zeros((3, 1))]), jnp.array([0.0, 0.0, 0.0, 1.0])]
+    ))
+
+def from_axis_angle(axis, angle):
+    """Creates a pose matrix from an axis and angle.
+
+    Args:
+        axis (jnp.ndarray): The axis vector. Shape (3,)
+        angle (float): The angle in radians.
+    Returns:
+        Pose object
+    """
+    return from_rot(rotation_from_axis_angle(axis, angle))
 
 @register_pytree_node_class
 class Pose:
diff --git a/b3d/renderer.py b/b3d/renderer.py
index d60eab02..d1a2013a 100644
--- a/b3d/renderer.py
+++ b/b3d/renderer.py
@@ -276,6 +276,95 @@ def render_attribute(self, pose, vertices, faces, ranges, attributes):
         return image[0], zs[0]
 
 
+    def render_attribute_normal_many(self, poses, vertices, faces, ranges, attributes):
+        """
+        Render many scenes to an image by rasterizing and then interpolating attributes.
+
+        Parameters:
+            poses: float array, shape (num_scenes, num_objectsß, 4, 4)
+                Object pose matrix.
+            vertices: float array, shape (num_vertices, 3)
+                Vertex position matrix.
+            faces: int array, shape (num_triangles, 3)
+                Faces Triangle matrix. The integers ßcorrespond to rows in the vertices matrix.
+            ranges: int array, shape (num_objects, 2)
+                Ranges matrix with the 2 elements specify start indices and counts into faces.
+            attributes: float array, shape (num_vertices, num_attributes)
+                Attributes corresponding to the vertices
+
+        Outputs:
+            image: float array, shape (num_scenes, height, width, num_attributes)
+                At each pixel the value is the barycentric interpolation of the attributes corresponding to the
+                3 vertices of the triangle with which the pixel's ray intersected. If the pixel's ray does not intersect
+                any triangle the value at that pixel will be 0s.
+            zs: float array, shape (num_scenes, height, width)
+                Depth of the intersection point. Zero if the pixel ray doesn't collide a triangle.
+            norm_im: approximate surface normal image (num_scenes, height, width, 3)
+        """
+        uvs, object_ids, triangle_ids, zs = self.rasterize_many(
+            poses, vertices, faces, ranges
+        )
+        mask = object_ids > 0
+
+        interpolated_values = self.interpolate_many(
+            attributes, uvs, triangle_ids, faces
+        )
+        image = interpolated_values * mask[..., None]
+        
+        def apply_pose(pose, points):
+            return pose.apply(points)
+        
+        pose_apply_map = jax.vmap(apply_pose, (0,None))
+        new_vertices = pose_apply_map(poses, vertices[faces])
+
+        def normal_vec(x,y,z):
+            vec = jnp.cross(y - x, z - x)
+            norm_vec = vec / jnp.linalg.norm(vec)
+            return norm_vec
+
+        normal_vec_vmap = jax.vmap(jax.vmap(normal_vec, (0,0,0)))
+        nvecs = normal_vec_vmap(new_vertices[...,0,:], new_vertices[...,1,:], new_vertices[...,2,:])
+        norm_vecs = jnp.concatenate((jnp.zeros((len(nvecs),1,3)), nvecs),axis=1)
+
+        def indexer(transformed_normals, triangle_ids):
+            return transformed_normals[triangle_ids]
+
+        index_map = jax.vmap(indexer, (0,0))
+        norm_im = index_map(norm_vecs, triangle_ids)
+
+        return image, zs, norm_im
+    
+    def render_attribute_normal(self, pose, vertices, faces, ranges, attributes):
+        """
+        Render a single scenes to an image by rasterizing and then interpolating attributes.
+
+        Parameters:
+            poses: float array, shape (num_objects, 4, 4)
+                Object pose matrix.
+            vertices: float array, shape (num_vertices, 3)
+                Vertex position matrix.
+            faces: int array, shape (num_triangles, 3)
+                Faces Triangle matrix. The integers correspond to rows in the vertices matrix.
+            ranges: int array, shape (num_objects, 2)
+                Ranges matrix with the 2 elements specify start indices and counts into faces.
+            attributes: float array, shape (num_vertices, num_attributes)
+                Attributes corresponding to the vertices
+
+        Outputs:
+            image: float array, shape (height, width, num_attributes)
+                At each pixel the value is the barycentric interpolation of the attributes corresponding to the
+                3 vertices of the triangle with which the pixel's ray intersected. If the pixel's ray does not intersect
+                any triangle the value at that pixel will be 0s.
+            zs: float array, shape (height, width)
+                Depth of the intersection point. Zero if the pixel ray doesn't collide a triangle.
+            norm_im: approximate surface normal image (height, width, 3)
+        """
+        image, zs, norm_im = self.render_attribute_normal_many(
+            pose[None, ...], vertices, faces, ranges, attributes
+        )
+        return image[0], zs[0], norm_im[0]
+
+
 # XLA array layout in memory
 def default_layouts(*shapes):
     return [range(len(shape) - 1, -1, -1) for shape in shapes]
diff --git a/b3d/utils.py b/b3d/utils.py
index 4bc2c950..9200fa6b 100644
--- a/b3d/utils.py
+++ b/b3d/utils.py
@@ -395,6 +395,22 @@ def update_choices_get_score(trace, key, addr_const, *values):
     enumerate_choices_get_scores, static_argnums=(2,)
 )
 
+def unproject_depth(depth, renderer):
+    """Unprojects a depth image into a point cloud.
+
+    Args:
+        depth (jnp.ndarray): The depth image. Shape (H, W)
+        intrinsics (b.camera.Intrinsics): The camera intrinsics.
+    Returns:
+        jnp.ndarray: The point cloud. Shape (H, W, 3)
+    """
+    mask = (depth < renderer.far) * (depth > renderer.near)
+    depth = depth * mask + renderer.far * (1.0 - mask)
+    y, x = jnp.mgrid[: depth.shape[0], : depth.shape[1]]
+    x = (x - renderer.cx) / renderer.fx
+    y = (y - renderer.cy) / renderer.fy
+    point_cloud_image = jnp.stack([x, y, jnp.ones_like(x)], axis=-1) * depth[:, :, None]
+    return point_cloud_image
 
 def nn_background_segmentation(images):
     import torch
diff --git a/test/test_likelihood_invariances.py b/test/test_likelihood_invariances.py
index 3a3b2933..79f483b3 100644
--- a/test/test_likelihood_invariances.py
+++ b/test/test_likelihood_invariances.py
@@ -169,3 +169,89 @@ def test_distance_to_camera_invarance(renderer):
 
     assert jnp.isclose(near_score, far_score, rtol=0.03)
 
+def test_patch_orientation_invariance(renderer):
+
+    object_library = b3d.MeshLibrary.make_empty_library()
+    occluder = trimesh.creation.box(extents=jnp.array([0.0001, 0.1, 0.1]))
+    occluder_colors = jnp.tile(jnp.array([0.8, 0.8, 0.8])[None,...], (occluder.vertices.shape[0], 1))
+    object_library = b3d.MeshLibrary.make_empty_library()
+    object_library.add_object(occluder.vertices, occluder.faces, attributes=occluder_colors)
+
+    image_width = 200
+    image_height = 200
+    fx = 200.0
+    fy = 200.0
+    cx = 100.0
+    cy = 100.0
+    near = 0.001
+    far = 16.0
+    renderer.set_intrinsics(image_width, image_height, fx, fy, cx, cy, near, far)
+
+    flat_pose = b3d.Pose.from_position_and_target(
+        jnp.array([0.3, 0.0, 0.0]), jnp.array([0.0, 0.0, 0.0]), jnp.array([0.0, 0.0, 1.0])
+    ).inv()
+
+    from b3d.pose import from_axis_angle
+
+    transform_vec = jax.vmap(from_axis_angle, (None, 0))
+    in_place_rots = transform_vec(jnp.array([0,0,1]), jnp.linspace(0, jnp.pi/4, 10))
+    tilt_pose = flat_pose @ in_place_rots[5]
+
+    rgb_flat, depth_flat = renderer.render_attribute(
+        flat_pose[None, ...],
+        object_library.vertices,
+        object_library.faces,
+        object_library.ranges,
+        object_library.attributes,
+    )
+
+    rgb_tilt, depth_tilt = renderer.render_attribute(
+        tilt_pose[None, ...],
+        object_library.vertices,
+        object_library.faces,
+        object_library.ranges,
+        object_library.attributes,
+    )
+
+
+    color_error, depth_error = (50.0, 0.01)
+    inlier_score, outlier_prob = (4.0, 0.000001)
+    color_multiplier, depth_multiplier = (100.0, 1.0)
+    model_args = b3d.ModelArgs(
+        color_error,
+        depth_error,
+        inlier_score,
+        outlier_prob,
+        color_multiplier,
+        depth_multiplier,
+    )
+
+    from genjax.generative_functions.distributions import ExactDensity
+    import genjax
+
+
+    rr.log("img_near", rr.Image(rgb_flat))
+    rr.log("img_far", rr.Image(rgb_tilt))
+
+
+
+    area_flat = ((depth_flat / fx) * (depth_flat / fy)).sum()
+    area_tilt = ((depth_tilt / fx) * (depth_tilt / fy)).sum()
+    print(area_flat, area_tilt)
+
+    flat_score = (
+        b3d.rgbd_sensor_model.logpdf(
+            (rgb_flat, depth_flat), rgb_flat, depth_flat, model_args, fx, fy, 0.0
+        )
+    )
+
+    tilt_score = (
+        b3d.rgbd_sensor_model.logpdf(
+            (rgb_tilt, depth_tilt), rgb_tilt, depth_tilt, model_args, fx, fy, 0.0
+        )
+    )
+    print(flat_score, tilt_score)
+    print(b3d.normalize_log_scores(jnp.array([flat_score, tilt_score])))
+
+    assert jnp.isclose(flat_score, tilt_score, rtol=0.05)
+
diff --git a/test/test_render_ycb_model.py b/test/test_render_ycb_model.py
index e1f043cf..4c4a50a1 100644
--- a/test/test_render_ycb_model.py
+++ b/test/test_render_ycb_model.py
@@ -2,7 +2,11 @@
 import jax.numpy as jnp
 import trimesh
 import b3d
+import rerun as rr
 
+PORT = 8812
+rr.init("real")
+rr.connect(addr=f"127.0.0.1:{PORT}")
 
 def test_renderer_full(renderer):
     mesh_path = os.path.join(
@@ -15,7 +19,7 @@ def test_renderer_full(renderer):
     object_library.add_trimesh(mesh)
 
     pose = b3d.Pose.from_position_and_target(
-        jnp.array([0.2, 0.2, 0.0]), jnp.array([0.0, 0.0, 0.0])
+        jnp.array([0.2, 0.2, 0.2]), jnp.array([0.0, 0.0, 0.0])
     ).inv()
 
     rgb, depth = renderer.render_attribute(
@@ -27,3 +31,33 @@ def test_renderer_full(renderer):
     )
     b3d.get_rgb_pil_image(rgb).save(b3d.get_root_path() / "assets/test_results/test_ycb.png")
     assert rgb.sum() > 0
+
+def test_renderer_normal_full(renderer):
+    mesh_path = os.path.join(
+        b3d.get_root_path(),
+        "assets/shared_data_bucket/ycb_video_models/models/003_cracker_box/textured_simple.obj",
+    )
+    mesh = trimesh.load(mesh_path)
+
+    object_library = b3d.MeshLibrary.make_empty_library()
+    object_library.add_trimesh(mesh)
+
+    pose = b3d.Pose.from_position_and_target(
+        jnp.array([0.2, 0.2, 0.2]), jnp.array([0.0, 0.0, 0.0])
+    ).inv()
+
+    rgb, depth, normal = renderer.render_attribute_normal(
+        pose[None, ...],
+        object_library.vertices,
+        object_library.faces,
+        jnp.array([[0, len(object_library.faces)]]),
+        object_library.attributes,
+    )
+
+    b3d.get_rgb_pil_image((normal+1)/2).save(b3d.get_root_path() / "assets/test_results/test_ycb_normal.png")
+
+    point_im = b3d.utils.unproject_depth(depth, renderer)
+    rr.log("pc", rr.Points3D(point_im.reshape(-1,3), colors=rgb.reshape(-1,3)))
+    rr.log("arrows", rr.Arrows3D(origins=point_im[::5,::5,:].reshape(-1,3), vectors=normal[::5,::5,:].reshape(-1,3)/100))
+
+    assert jnp.abs(normal).sum() > 0