From fe2215384b1955ede1161e0134526a712b20b10a Mon Sep 17 00:00:00 2001 From: Jan Margeta Date: Wed, 6 Mar 2024 18:32:15 +0100 Subject: [PATCH] Update docs on the video recordings's resolution This fixes the the ffmpeg command to correspond to the default humanoid.xml resolution (2560x1440). --- doc/programming/samples.rst | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/doc/programming/samples.rst b/doc/programming/samples.rst index f12c1124..88cf07ca 100644 --- a/doc/programming/samples.rst +++ b/doc/programming/samples.rst @@ -150,16 +150,17 @@ 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 rendering is simplified compared to :ref:`simulate.cc ` 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 -multi-samples for the offscreen buffer are specified in the MuJoCo model, 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. For example, a 5 second animation at 60 frames per second is created with: +multi-samples for the offscreen buffer are specified in the MuJoCo model with the visual/global/{offwidth,offheight} +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. + .. code-block:: Shell record humanoid.xml 5 60 rgb.out -The default humanoid.xml model specifies offscreen rendering with 800x800 resolution. With this information in hand, we -can compress the (large) raw date file into a playable movie file: +The default 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: .. code-block:: Shell ffmpeg -f rawvideo -pixel_format rgb24 -video_size 2560x1440