Render the everything in the same renderer

[EE-LiuYunhao]

The Current Problem

The PlasticineLab can now load the URDF described robots, do the forward kinematics, and render the animation. The visualization pipeline is based on Open3D. However, the current visualization for the articulated robots is not the best choice for MPM rendering. The original Taichi-based renderer in the PlasticineLab is too slow. Hence, a renderer that correctly supports both the articulated robots and the MPM objects may be necessary.

Possible solutions

A. Open3D (the tool we are currently using)

• Transfer the MPM to point clouds
• Use the Open3D to render the point cloud in the same space as the articulated robots.

  Advantages

• Easy, less modification to the current codes.

  Disadvantages

• Using point clouds to render MPM is less efficient, less accurate and less satisfactory for demonstration.

B. Blender

• Use the Blender's triangular meshes to replace the Open3D's meshes
• Use the Blender's rendering pipeline to replace the Open3D's pipeline

Advantages

• Faster
• Prettier
• More functionalities

Disadvantages

• Needing extra efforts to adjust the codes
• Blender is harder to be installed than Open3D

Decision

Blender might be better. It needs further discussions and surveys before conclusions can be drawn.