fix loadpanda video generation

remove duplicate code (formerly Windows ffpmeg needed different settings?)

examples/OpenGLWindow/SimpleOpenGL3App.cpp

@@ -1106,27 +1106,11 @@ void SimpleOpenGL3App::dumpFramesToVideo(const char* mp4FileName)
 		int height = (int)m_window->getRetinaScale() * m_instancingRenderer->getScreenHeight();
 		char cmd[8192];
 
-#ifdef _WIN32
 		sprintf(cmd,
 				"ffmpeg -r %d -f rawvideo -pix_fmt rgba -s %dx%d -i - "
 				"-threads 0 -y -b:v 50000k   -c:v libx264 -preset slow -crf 22 -an   -pix_fmt yuv420p -vf vflip %s",
 			m_data->m_mp4Fps, width, height, mp4FileName);
 
-		//sprintf(cmd, "ffmpeg -r %d -f rawvideo -pix_fmt rgba   -s %dx%d -i - "
-		//		"-y -crf 0  -b:v 1500000 -an -vcodec h264 -vf vflip  %s", m_data->m_mp4Fps, width, height, mp4FileName);
-#else
-
-		sprintf(cmd,
-				"ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - "
-				"-threads 0 -y -b 50000k   -c:v libx264 -preset slow -crf 22 -an   -pix_fmt yuv420p -vf vflip %s",
-				width, height, mp4FileName);
-#endif
-
-		//sprintf(cmd,"ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - "
-		//            "-threads 0 -y -crf 0 -b 50000k -vf vflip %s",width,height,mp4FileName);
-
-		//              sprintf(cmd,"ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - "
-		//              "-threads 0 -preset fast -y -crf 21 -vf vflip %s",width,height,mp4FileName);
 
 		if (m_data->m_ffmpegFile)
 		{

examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py

@@ -7,23 +7,26 @@ import pybullet_robots.panda.panda_sim_grasp as panda_sim
 
 #video requires ffmpeg available in path
 createVideo=False
+fps=240.
+timeStep = 1./fps
 
 if createVideo:
-	p.connect(p.GUI, options="--mp4=\"pybullet_grasp.mp4\", --mp4fps=240")
+	p.connect(p.GUI, options="--minGraphicsUpdateTimeMs=0 --mp4=\"pybullet_grasp.mp4\" --mp4fps="+str(fps) )
 else:
 	p.connect(p.GUI)
 
 p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1)
 p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
-
+p.setPhysicsEngineParameter(maxNumCmdPer1ms=1000)
 p.resetDebugVisualizerCamera(cameraDistance=1.3, cameraYaw=38, cameraPitch=-22, cameraTargetPosition=[0.35,-0.13,0])
 p.setAdditionalSearchPath(pd.getDataPath())
 
-timeStep=1./120.#240.
 p.setTimeStep(timeStep)
 p.setGravity(0,-9.8,0)
 
 panda = panda_sim.PandaSimAuto(p,[0,0,0])
+panda.control_dt = timeStep
+
 logId = panda.bullet_client.startStateLogging(panda.bullet_client.STATE_LOGGING_PROFILE_TIMINGS, "log.json")
 panda.bullet_client.submitProfileTiming("start")
 for i in range (100000):
@@ -32,7 +35,8 @@ for i in range (100000):
 	p.stepSimulation()
 	if createVideo:
 		p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1)
-	time.sleep(timeStep)
+	if not createVideo:
+		time.sleep(timeStep)
 	panda.bullet_client.submitProfileTiming()
 panda.bullet_client.submitProfileTiming()
 panda.bullet_client.stopStateLogging(logId)

examples/pybullet/gym/pybullet_robots/panda/panda_sim_grasp.py

@@ -39,7 +39,7 @@ class PandaSim(object):
     self.panda = self.bullet_client.loadURDF("franka_panda/panda.urdf", np.array([0,0,0])+self.offset, orn, useFixedBase=True, flags=flags)
     index = 0
     self.state = 0
-    self.control_dt = 1./120.
+    self.control_dt = 1./240.
     self.finger_target = 0
     self.gripper_height = 0.2
     #create a constraint to keep the fingers centered