Cherry-pick (#727) to release v0.2.1: Document second-viewport teleop monitoring workflow#730
Cherry-pick (#727) to release v0.2.1: Document second-viewport teleop monitoring workflow#730rwiltz wants to merge 4 commits into
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## Summary Doc two-person teleop with 2nd viewport ## Detailed description - Per Edith's feedback, demos where the trajectory drifts outside the robot's recording-camera FOV silently degrade policy training. A second operator watching a viewport bound to the recording camera can catch this live and avoid a re-record. - Adds a new "Step 2b: Monitor Recording with a Second Viewport (Optional)" between Steps 2 and 3 in `docs/pages/example_workflows/static_apple/step_2_teleoperation.rst`, with two screenshots: enabling Viewport 2 from the **Window** menu, and pointing it at `RobotHeadCam`. - Notes that `RobotHeadCam` is only spawned when `--enable_cameras` is set — present by default in Step 4's `record_demos.py`, absent in the Step 2 `teleop.py` smoke test — so readers know when the camera will appear in the selector. - Docs only; no code changes. (cherry picked from commit 754c87a)
rwiltz
requested review from
alexmillane,
cvolkcvolk,
peterd-NV,
qianl-nv,
viiik-inside,
xyao-nv and
zhx06
as code owners
Greptile SummaryThis docs-only cherry-pick backports the "Step 2b: Monitor Recording with a Second Viewport" workflow from
Confidence Score: 5/5Docs-only cherry-pick with no code changes; safe to merge. All four changed files are documentation — three JPEG screenshots and one RST page. The RST is well-structured, image paths match the new files, the --enable_cameras note is consistent with the existing Step 2 and Step 4 commands already in the file, and the cherry-pick introduces no conflicts with the rest of the 0.2.1 branch. No files require special attention. Important Files Changed
Flowchart%%{init: {'theme': 'neutral'}}%%
flowchart TD
A[Step 2: Start Arena Teleop
teleop.py --viz kit ...] --> B{Want to monitor
recording FOV?}
B -- No --> C[Step 3: Connect headset
and teleop normally]
B -- Yes - Step 2b --> D[Open Window menu
toggle on Viewport 2]
D --> E[In Viewport 2 toolbar
select RobotHeadCam
/World/envs/env_0/Robot/head_link]
E --> F[Two-person workflow
Person 1: teleop via headset
Person 2: watch Viewport 2 on monitor]
F --> G{Head-cam FOV OK?}
G -- Yes --> C
G -- No --> H[Observer gives live feedback
to teleoperator, adjust position]
H --> G
C --> I[Step 4: record_demos.py
--enable_cameras
writes RobotHeadCam to HDF5]
Reviews (4): Last reviewed commit: "Merge branch 'release/0.2.1' into rwiltz..." | Re-trigger Greptile |
Signed-off-by: Rafael Wiltz <rwiltz@nvidia.com>
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🤖 Isaac Lab Review Bot
Summary
Cherry-pick of documentation PR #727 onto release/0.2.1. Documents the second-viewport teleop monitoring workflow, consolidates network requirements, simplifies language instructions, and clarifies the recording reset flow. No functional code changes — docs and config only.
Update (a3f1cb9)
The latest push broadens the scope beyond the dual-viewport screenshots. Key changes since previous review:
1. Network requirements consolidated across all teleop docs
An .. important:: admonition linking to the CloudXR network requirements is now added at the top of all four teleoperation workflow pages:
static_apple/step_2_teleoperation.rstlocomanipulation/step_2_teleoperation.rstsequential_static_manipulation/step_2_teleoperation.rststatic_manipulation/step_2_teleoperation.rst
The previous inline "A strong wireless connection is essential…" paragraph is removed from each file's Step 3. This is a good pattern — prerequisites belong at the top, not buried mid-workflow.
2. Language instruction simplified
Changed from:
"Pick up the apple from the shelf and place it onto the plate on the same shelf next to it."
To:
"move the apple to the plate"
Updated in three places consistently:
docs/pages/example_workflows/static_apple/step_3_policy_training.rstisaaclab_arena_gr00t/lerobot/config/g1_static_apple_config.yamlisaaclab_arena_gr00t/policy/config/g1_static_apple_gr00t_closedloop_config.yaml
3. Recording workflow (Step 4) clarified
The reset instructions now explicitly describe:
- Wait for auto-reset (not just "simulation freeze")
- Return hands to initial position before pressing Reset
- Added a dedicated "Reset" sub-step in the tips section
4. Dual-viewport documentation (unchanged from previous review)
The three-image walkthrough (xr-dual-viewport-start.jpg, xr-dual-viewport-menu.jpg, xr-dual-viewport-result.jpg) remains as previously reviewed.
Findings
✅ No Issues Found
- Cross-file consistency — The
.. important::network-requirements block is identical across all four workflow files. Good. - Language instruction — Updated in all three relevant locations (docs + both config YAMLs). No stale references remain.
- RST structure — All additions are valid RST with correct indentation and directive syntax.
- Link targets — The CloudXR network requirements URL points to a versioned (
latest) docs page, which is appropriate for a living reference. - Recording flow — The updated Step 4 instructions are clearer about the auto-reset vs. manual-reset distinction, reducing operator confusion.
- No broken cross-references — Old images removed, old inline network note removed; nothing left dangling.
Test Coverage
Documentation and config-only changes — no test coverage needed.
Verdict
No issues found — Well-structured update that consolidates prerequisites, simplifies the language instruction for better policy generalization, and clarifies the recording workflow. Ready to merge.
Swap the two "Step 2b" screenshots for a three-image sequence -- the default single viewport, the Viewport 2 camera selector, and the resulting dual-viewport layout -- and restructure the section to walk through it. The new captures come from a clean session that does not expose the internal Nucleus server, so no cropping is needed; the source PNGs are converted to JPEG to match the other doc assets. Signed-off-by: Rafael Wiltz <rwiltz@nvidia.com>
2 participants
Summary
Cherry-pick (#727) to release/0.2.1: docs only
Detailed description
release/0.2.1. Clean cherry-pick, no conflicts.docs/pages/example_workflows/static_apple/step_2_teleoperation.rst) plus two screenshots.