diff --git a/tools/docs/media/capture_quickstart.py b/tools/docs/media/capture_quickstart.py
index 8e10677341b3..2b405c257c93 100644
--- a/tools/docs/media/capture_quickstart.py
+++ b/tools/docs/media/capture_quickstart.py
@@ -29,6 +29,8 @@
 from isaaclab_tasks.core.velocity.config.g1.flat_env_cfg import G1FlatEnvCfg
 from isaaclab_tasks.utils import resolve_task_config, setup_preset_cli
 
+# Focal lengths are tuned per task to the tightest framing that still keeps the subject inside the
+# published crop; the safe value differs per scene, so they are not a fixed ratio of one another.
 _TASK_CONFIGS = {
     "Isaac-Cartpole": "capture_quickstart:CartpoleCaptureCfg",
     "Isaac-Lift-KukaAllegro": "capture_quickstart:KukaAllegroCaptureCfg",
@@ -43,7 +45,7 @@ class CartpoleCaptureCfg(CartpoleEnvCfg):
 
     def __post_init__(self):
         super().__post_init__()
-        _configure_capture(self, focal_length=18.0)
+        _configure_capture(self, focal_length=21.0)
 
 
 @configclass
@@ -52,7 +54,7 @@ class G1FlatCaptureCfg(G1FlatEnvCfg):
 
     def __post_init__(self):
         super().__post_init__()
-        _configure_capture(self, focal_length=20.0)
+        _configure_capture(self, focal_length=29.0)
 
 
 @configclass
@@ -61,7 +63,9 @@ class KukaAllegroCaptureCfg(KukaAllegroLiftEnvCfg):
 
     def __post_init__(self):
         super().__post_init__()
-        _configure_capture(self, focal_length=22.0)
+        # Held to 24 rather than the tighter framing the other tasks take: the lift policy raises
+        # the arm well above the pose a zero action holds, and 26 already leaves little headroom.
+        _configure_capture(self, focal_length=24.0)
 
 
 @configclass
@@ -70,7 +74,7 @@ class FrankaCabinetCaptureCfg(FrankaCabinetEnvCfg):
 
     def __post_init__(self):
         super().__post_init__()
-        _configure_capture(self, focal_length=22.0)
+        _configure_capture(self, focal_length=32.0)
 
 
 def configure_playback() -> list[str]:
@@ -97,7 +101,7 @@ def main():
     env_cfg, _ = resolve_task_config(args.task, "", play_mode=True)
     env_cfg.scene.num_envs = 1
     env_cfg.seed = 42
-    _configure_resolved_sim(env_cfg.sim, focal_length=22.0)
+    _configure_resolved_sim(env_cfg.sim, focal_length=32.0)
     env_cfg.video_recorders = [
         VideoRecorderCfg(
             source="visualizer:newton_rtx",
@@ -144,15 +148,20 @@ def _configure_capture(env_cfg: object, focal_length: float):
 
 
 def _configure_resolved_sim(sim_cfg: SimulationCfg, focal_length: float):
-    """Attach a headless 320 by 240 OVRTX visualizer to a simulation config."""
+    """Attach a headless 1280 by 960 OVRTX visualizer to a simulation config.
+
+    Captures at four times the 320 by 240 publication size so the generator can downsample the
+    path-traced frames, which resolves robot silhouettes and shadow edges that alias away when
+    the path tracer renders straight to the final size.
+    """
     default_camera = sim_cfg.default_visualizer_cfg or VisualizerCfg()
     sim_cfg.visualizer_cfgs = [
         NewtonRTXVisualizerCfg(
             eye=default_camera.eye,
             lookat=default_camera.lookat,
             focal_length=focal_length,
-            window_width=320,
-            window_height=240,
+            window_width=1280,
+            window_height=960,
             headless=True,
             rtx_environment="default",
             render_settings={"omni:rtx:quality": ("Int", 100)},
diff --git a/tools/docs/media/generate_quickstart.sh b/tools/docs/media/generate_quickstart.sh
index 8bbb3d5ba616..3ce7542dfda1 100755
--- a/tools/docs/media/generate_quickstart.sh
+++ b/tools/docs/media/generate_quickstart.sh
@@ -75,12 +75,12 @@ ffmpeg -y -v error \
     -i "${WORK_DIR}/random/random_0000.mp4" \
     -i "${WORK_DIR}/play/play_0000.mp4" \
     -filter_complex \
-    "[0:v]select='not(mod(n,5))',setpts=N/(12*TB),hqdn3d=2:2:6:6,drawbox=x=8:y=8:w=112:h=28:color=black@0.65:t=fill,drawtext=font='DejaVu Sans':text='zero_agent':fontcolor=white:fontsize=16:x=16:y=13[zero];
-     [1:v]select='not(mod(n,5))',setpts=N/(12*TB),hqdn3d=2:2:6:6,drawbox=x=8:y=8:w=134:h=28:color=black@0.65:t=fill,drawtext=font='DejaVu Sans':text='random_agent':fontcolor=white:fontsize=16:x=16:y=13[random];
-     [2:v]select='not(mod(n,5))',setpts=N/(12*TB),hqdn3d=2:2:6:6,drawbox=x=8:y=8:w=58:h=28:color=black@0.65:t=fill,drawtext=font='DejaVu Sans':text='play':fontcolor=white:fontsize=16:x=16:y=13[play];
+    "[0:v]select='not(mod(n,5))',setpts=N/(12*TB),scale=320:240:flags=lanczos,hqdn3d=1:1:3:3,drawbox=x=8:y=8:w=112:h=28:color=black@0.65:t=fill,drawtext=font='DejaVu Sans':text='zero_agent':fontcolor=white:fontsize=16:x=16:y=13[zero];
+     [1:v]select='not(mod(n,5))',setpts=N/(12*TB),scale=320:240:flags=lanczos,hqdn3d=1:1:3:3,drawbox=x=8:y=8:w=134:h=28:color=black@0.65:t=fill,drawtext=font='DejaVu Sans':text='random_agent':fontcolor=white:fontsize=16:x=16:y=13[random];
+     [2:v]select='not(mod(n,5))',setpts=N/(12*TB),scale=320:240:flags=lanczos,hqdn3d=1:1:3:3,drawbox=x=8:y=8:w=58:h=28:color=black@0.65:t=fill,drawtext=font='DejaVu Sans':text='play':fontcolor=white:fontsize=16:x=16:y=13[play];
      [zero][random][play]hstack=inputs=3,split[frames][palette_frames];
-     [palette_frames]palettegen=max_colors=128:stats_mode=diff[palette];
-     [frames][palette]paletteuse=dither=bayer:bayer_scale=4:diff_mode=rectangle" \
+     [palette_frames]palettegen=max_colors=256:stats_mode=diff[palette];
+     [frames][palette]paletteuse=dither=sierra2_4a:diff_mode=rectangle" \
     -loop 0 "${OUTPUT_DIR}/agent-comparison.gif"
 
 ffmpeg -y -v error \
@@ -88,12 +88,12 @@ ffmpeg -y -v error \
     -i "${WORK_DIR}/g1/g1_0000.mp4" \
     -i "${WORK_DIR}/kuka_allegro/kuka_allegro_0000.mp4" \
     -filter_complex \
-    "[0:v]crop=320:180:0:30,select='not(mod(n,5))',setpts=N/(12*TB),hqdn3d=2:2:6:6,drawbox=x=8:y=8:w=82:h=28:color=black@0.65:t=fill,drawtext=font='DejaVu Sans':text='Cartpole':fontcolor=white:fontsize=16:x=16:y=13[cartpole];
-     [1:v]crop=320:180:0:30,select='not(mod(n,5))',setpts=N/(12*TB),hqdn3d=2:2:6:6,drawbox=x=8:y=8:w=128:h=28:color=black@0.65:t=fill,drawtext=font='DejaVu Sans':text='G1 locomotion':fontcolor=white:fontsize=16:x=16:y=13[g1];
-     [2:v]crop=320:180:0:30,select='not(mod(n,5))',setpts=N/(12*TB),hqdn3d=2:2:6:6,drawbox=x=8:y=8:w=116:h=28:color=black@0.65:t=fill,drawtext=font='DejaVu Sans':text='Kuka Allegro':fontcolor=white:fontsize=16:x=16:y=13[kuka];
+    "[0:v]crop=1280:720:0:120,select='not(mod(n,5))',setpts=N/(12*TB),scale=320:180:flags=lanczos,hqdn3d=1:1:3:3,drawbox=x=8:y=8:w=82:h=28:color=black@0.65:t=fill,drawtext=font='DejaVu Sans':text='Cartpole':fontcolor=white:fontsize=16:x=16:y=13[cartpole];
+     [1:v]crop=1280:720:0:120,select='not(mod(n,5))',setpts=N/(12*TB),scale=320:180:flags=lanczos,hqdn3d=1:1:3:3,drawbox=x=8:y=8:w=128:h=28:color=black@0.65:t=fill,drawtext=font='DejaVu Sans':text='G1 locomotion':fontcolor=white:fontsize=16:x=16:y=13[g1];
+     [2:v]crop=1280:720:0:120,select='not(mod(n,5))',setpts=N/(12*TB),scale=320:180:flags=lanczos,hqdn3d=1:1:3:3,drawbox=x=8:y=8:w=116:h=28:color=black@0.65:t=fill,drawtext=font='DejaVu Sans':text='Kuka Allegro':fontcolor=white:fontsize=16:x=16:y=13[kuka];
      [cartpole][g1][kuka]hstack=inputs=3,split[frames][palette_frames];
-     [palette_frames]palettegen=max_colors=128:stats_mode=diff[palette];
-     [frames][palette]paletteuse=dither=bayer:bayer_scale=4:diff_mode=rectangle" \
+     [palette_frames]palettegen=max_colors=256:stats_mode=diff[palette];
+     [frames][palette]paletteuse=dither=sierra2_4a:diff_mode=rectangle" \
     -loop 0 "${OUTPUT_DIR}/task-sampler.gif"
 
 for output in agent-comparison.gif task-sampler.gif; do