Cherry-pick (#727) to release v0.2.1: Document second-viewport teleop monitoring workflow

[rwiltz]

Summary

Cherry-pick (#727) to release/0.2.1: docs only

Detailed description

• Cherry-picks 754c87a (PR Document second-viewport teleop monitoring workflow #727) onto release/0.2.1. Clean cherry-pick, no conflicts.
• Adds the optional "Step 2b: Monitor Recording with a Second Viewport" workflow to the static apple example (docs/pages/example_workflows/static_apple/step_2_teleoperation.rst) plus two screenshots.
• Docs only; no code changes. Brings the teleop monitoring guidance into the 0.2.1 release so users on that branch don't silently lose demos to out-of-FOV trajectories.

[greptile-apps]

Greptile Summary

Cherry-picks the "Step 2b: Monitor Recording with a Second Viewport" section from PR #727 into the release/0.2.1 branch, adding a purely documentation change to step_2_teleoperation.rst along with two supporting screenshots.

• Adds an optional two-person monitoring workflow that explains how to open a second Isaac Lab viewport bound to RobotHeadCam so an observer can keep every grasping trajectory inside the recording field of view during demo collection.
• Includes a .. note:: clarifying that RobotHeadCam only appears when --enable_cameras is passed, keeping users from being confused during the smoke-test teleop.py run which omits that flag.

Confidence Score: 5/5

Docs-only cherry-pick with no code changes; safe to merge.

All three changed files are documentation assets — one RST page and two JPEG screenshots. The RST image paths resolve correctly relative to the file's location, the new section heading style matches existing steps, and the note about --enable_cameras accurately reflects the record_demos.py command already present in Step 4. No logic, config, or runtime behavior is affected.

No files require special attention.

Important Files Changed

Filename	Overview
docs/pages/example_workflows/static_apple/step_2_teleoperation.rst	Adds Step 2b: Monitor Recording with a Second Viewport (Optional) section with two figures, a numbered how-to list, and a note about the --enable_cameras requirement — RST syntax and image paths are correct.
docs/images/xr_enable_second_viewport.jpg	New screenshot showing the Window menu with Viewport 2 toggle highlighted; referenced correctly from the RST.
docs/images/xr_second_viewport_robot_camera.jpg	New screenshot showing the dual-viewport layout with the robot head-camera view; referenced correctly from the RST.

Sequence Diagram

sequenceDiagram
    participant T as Teleoperator (Headset)
    participant O as Observer (Host Monitor)
    participant Arena as Arena Application
    participant RD as record_demos.py

    Note over Arena,RD: Step 4 - Recording session starts
    RD->>Arena: launch with --enable_cameras
    Arena->>Arena: spawn RobotHeadCam at /World/envs/env_0/Robot/head_link

    Note over O,Arena: Step 2b - Dual Viewport Setup
    O->>Arena: Window menu toggle Viewport 2
    O->>Arena: select RobotHeadCam in Viewport 2 toolbar

    loop Each demonstration
        T->>Arena: "teleoperate via XR headset (Viewport 1 = stereo view)"
        Arena-->>O: Viewport 2 shows RobotHeadCam FOV (dataset view)
        O->>T: live feedback (hand at edge of frame — move right)
        T->>Arena: corrects trajectory to stay in FOV
        Arena->>RD: write frames to HDF5 (only what RobotHeadCam sees)
    end

Loading

_{Reviews (1): Last reviewed commit: "Document second-viewport teleop monitori..." | Re-trigger Greptile}