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Add url to relevant offscreen buffer attributes

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This commit is contained in:
Jan Margeta
2024-03-06 19:46:51 +01:00
parent 548177d46c
commit f287372467
1 changed files with 6 additions and 3 deletions
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doc/programming/samples.rst
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@@ -150,7 +150,10 @@ This code sample simulates the passive dynamics of a given model, renders it off
values, and saves them into a raw data file that can then be converted into a movie file with tools such as ffmpeg. The values, and saves them into a raw data file that can then be converted into a movie file with tools such as ffmpeg. The
rendering is simplified compared to :ref:`simulate.cc <saSimulate>` because there is no user interaction, visualization rendering is simplified compared to :ref:`simulate.cc <saSimulate>` because there is no user interaction, visualization
options or timing; instead we simply render with the default settings as fast as possible. The dimensions and number of options or timing; instead we simply render with the default settings as fast as possible. The dimensions and number of
multi-samples for the offscreen buffer are specified in the MuJoCo model with the visual/global/{offwidth,offheight} multi-samples for the offscreen buffer are specified in the MuJoCo model with the
visual/global/{`offwidth <https://mujoco.readthedocs.io/en/stable/XMLreference.html#visual-global-offwidth>`_,
`offheight <https://mujoco.readthedocs.io/en/stable/XMLreference.html#visual-global-offheight>`_} and
visual/quality/`offsamples <https://mujoco.readthedocs.io/en/stable/XMLreference.html#visual-quality-offsamples>`_
attributes, while the simulation duration, frames-per-second to be rendered (usually much less than the physics attributes, while the simulation duration, frames-per-second to be rendered (usually much less than the physics
simulation rate), and output file name are specified as command-line arguments. simulation rate), and output file name are specified as command-line arguments.
@@ -191,8 +194,8 @@ For example, a 5 second animation at 60 frames per second is created with:
record humanoid.xml 5 60 rgb.out record humanoid.xml 5 60 rgb.out
The default humanoid.xml model specifies offscreen rendering with 2560x1440 resolution. With this information in hand, The default `humanoid.xml <https://github.com/google-deepmind/mujoco/blob/main/model/humanoid/humanoid.xml>`_ model specifies offscreen rendering with 2560x1440 resolution. With this information in hand,
we can compress the (large) raw date file into a playable movie file: we can compress the (large) raw data file into a playable movie file:
.. code-block:: Shell .. code-block:: Shell
ffmpeg -f rawvideo -pixel_format rgb24 -video_size 2560x1440 ffmpeg -f rawvideo -pixel_format rgb24 -video_size 2560x1440