Record/render a video from Isaac Sim viewport

Hi everyone,

Is there a possibility to render a video from the viewport of Isaac Sim? Currently, my approach is to simply screen record what I see, but I would like to render a higher quality video with better resolution and framerate than what I actually see from the viewport.

I know that there is a possibility to do this when the animation is recorded in the timeline, but how do I do it when the animation comes from ROS or a Python script? My setup involves a robot that subscribes to ROS via ActionGraph for joint commands.

Thanks a lot!

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