Questions Regarding Rendering of Splat, CameraView, and Urdf

[Unimendacity]

Hello,

The rendering functionalities provided in this work, including 3D Gaussian Splatting, CameraView, and robot URDF integration, are impressive.

However, I’ve encountered some issues while using Splat, CameraView, and Urdf. I would appreciate your guidance on the following points as shown in attached video:

1. How can I adjust the initial user view in the web interface?
2. The image rendered using grab_render from CameraView differs significantly in quality from the Splat rendering seen in the web interface from the user’s perspective.
3. The Splat elements behind the CameraView frustum are not rendered correctly and appear completely black.
4. When using grab_render to capture CameraView images, the web interface visualization flickers due to intermittent black screens.
5. Fixed joints in Urdf are not functioning as expected.

Thank you for your time and support!

vuer_rendering_issues.mp4