How to record higher quality videos?

[ekarais]

I'm trying out the Model Predictive Control script provided in the docs. I notice that when setting enable_visualization=True when instantiating a CausalWorld environment, the real-time visualization of the CEM is very high resolution, which is great. However, the recording of the CEM obtained via gym.wrappers.monitoring.video_recorder.VideoRecorder has much poorer quality.

Is there a way to record the videos such that their resolution is as good as the real-time visualization, or at least better than what we currently obtain from the VideoRecorder?

I suspect that one would have to modify the render() function of CausalWorld to achieve this, but I don't know what exactly needs to be done.

[michaelfeil]

Have you tried to change the _setup_viewing_camera in the env.render method?

Particularly self._render_width = 320 and self._render_height = 240

CausalWorld/causal_world/envs/causalworld.py

Lines 550 to 581 in 548e66c

	def _setup_viewing_camera(self):
	"""
	Sets up the viewing camera that is used for the render function.
	:return:
	"""
	if self._pybullet_client_w_o_goal_id is not None:
	client = self._pybullet_client_w_o_goal_id
	else:
	client = self._pybullet_client_full_id
	self._cam_dist = 0.6
	self._cam_yaw = 0
	self._cam_pitch = -60
	self._render_width = 320
	self._render_height = 240
	base_pos = [0, 0, 0]
	self.view_matrix = pybullet.computeViewMatrixFromYawPitchRoll(
	cameraTargetPosition=base_pos,
	distance=self._cam_dist,
	yaw=self._cam_yaw,
	pitch=self._cam_pitch,
	roll=0,
	upAxisIndex=2,
	physicsClientId=client)
	self.proj_matrix = pybullet.computeProjectionMatrixFOV(
	fov=60,
	aspect=float(self._render_width) / self._render_height,
	nearVal=0.1,
	farVal=100.0,
	physicsClientId=client)
	return