From 7ee6c5e037f104d05dde25f486543a7d07f22ff5 Mon Sep 17 00:00:00 2001 From: Farbod Motlagh Date: Tue, 20 Oct 2026 15:10:54 -0700 Subject: [PATCH 1/2] docs: clarify camera viewing and robot integration next steps Signed-off-by: Farbod Motlagh --- docs/AGENTS.md | 3 +++ docs/source/references/camera_streaming.rst | 14 ++++++++++++++ 2 files changed, 17 insertions(+) diff --git a/docs/AGENTS.md b/docs/AGENTS.md index 3279c14467..7f5dc9e2c9 100644 --- a/docs/AGENTS.md +++ b/docs/AGENTS.md @@ -12,6 +12,9 @@ the CSS — where it moves when the code moves. Keep small API-option updates to purpose, prerequisites, and usage; avoid example wrappers and lifecycle walkthroughs unless needed to use the option. +Land documentation fixes needed on both `main` and release branches on `main` +first, then cherry-pick the merged fix into the release branch. + ## Build the way CI does `make current-docs` wipes `build/current` and runs `sphinx-build -W --keep-going`, which diff --git a/docs/source/references/camera_streaming.rst b/docs/source/references/camera_streaming.rst index e31f1f7d02..ad3c45387c 100644 --- a/docs/source/references/camera_streaming.rst +++ b/docs/source/references/camera_streaming.rst @@ -11,6 +11,10 @@ robot to a workstation over the network (split mode). It can also stream :ref:`r data ` — a video file replayed in place of a live camera — and render to a desktop window instead of the headset. +Controllers adjust the camera view, including its placement, shape, and stereo settings. +This sample does not send robot commands or record robot demonstrations; see `Next steps`_ +for robot-control and recording integrations. + The sample lives at :code-dir:`examples/camera_viz/ `. This page walks you from setup and a camera-free first run to real cameras and the robot → workstation split mode. It is the primary user guide for the sample, including commands, configuration, controller @@ -354,6 +358,12 @@ needs values it supports (inspect them with ``v4l2-ctl --list-formats-ext``): ./camera_viz.sh run configs/v4l2.yaml # or oakd.yaml / zed.yaml +**ZED Mini: UVC or SDK stereo.** In the 2560×720 UVC mode used by ``v4l2.yaml``, the left +and right camera images are packed side by side. The sample displays that entire image on one +plane, with the same packed image in both headset eyes. For per-eye stereo, install ZED support +with ``./camera_viz.sh setup --with-zed`` and use ``configs/zed.yaml`` (``type: zed``, +``stereo: true``), which retrieves a separate image for each eye through the ZED SDK. + **You should see** the same startup lines as above with the camera's tag (``[v4l2]``, ``[oakd]``, ``[zed]``) and the live feed. Multiple entries in the ``cameras`` list render as one plane each. @@ -927,3 +937,7 @@ Next steps - :ref:`Stream from a robot ` when capture and viewing run on separate machines. - :ref:`Share the XR session with teleoperation ` and map inputs with the :doc:`retargeting interface `. +- Control a physical SO-101 and record demonstrations with + :doc:`LeRobot `. +- Teleoperate a simulated SO-101 and record demonstrations with + :doc:`Isaac Lab `. From 0b587d6e2a8bbb74b964a9847c5dacb587f21f7e Mon Sep 17 00:00:00 2001 From: Farbod Motlagh Date: Tue, 20 Oct 2026 15:17:12 -0700 Subject: [PATCH 2/2] docs: remove unrequested agent guidance Signed-off-by: Farbod Motlagh --- docs/AGENTS.md | 3 --- 1 file changed, 3 deletions(-) diff --git a/docs/AGENTS.md b/docs/AGENTS.md index 7f5dc9e2c9..3279c14467 100644 --- a/docs/AGENTS.md +++ b/docs/AGENTS.md @@ -12,9 +12,6 @@ the CSS — where it moves when the code moves. Keep small API-option updates to purpose, prerequisites, and usage; avoid example wrappers and lifecycle walkthroughs unless needed to use the option. -Land documentation fixes needed on both `main` and release branches on `main` -first, then cherry-pick the merged fix into the release branch. - ## Build the way CI does `make current-docs` wipes `build/current` and runs `sphinx-build -W --keep-going`, which