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docs: update Televiz getting-started page #711

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22 changes: 11 additions & 11 deletions docs/source/getting_started/televiz.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -74,12 +74,12 @@ A minimal offscreen render-and-readback (no GPU display, no headset):
import cupy as cp
import isaacteleop.viz as televiz

cfg = televiz.VizSessionConfig()
cfg.mode = televiz.DisplayMode.kOffscreen
cfg.window_width = 1024
cfg.window_height = 1024
viz_cfg = televiz.VizSessionConfig()
viz_cfg.mode = televiz.DisplayMode.kOffscreen
viz_cfg.window_width = 1024
viz_cfg.window_height = 1024

session = televiz.VizSession.create(cfg)
session = televiz.VizSession.create(viz_cfg)

layer_cfg = televiz.QuadLayerConfig()
layer_cfg.name = "cam"
Expand Down Expand Up @@ -296,19 +296,19 @@ extensions automatically), then pass the handles through:
from isaacteleop.deviceio import DeviceIOSession
from teleopcore.oxr import OpenXRSessionHandles

cfg = televiz.VizSessionConfig()
cfg.mode = televiz.DisplayMode.kXr
viz_cfg = televiz.VizSessionConfig()
viz_cfg.mode = televiz.DisplayMode.kXr
# Aggregate the XR extensions downstream trackers need so they're present
# on the XrInstance Televiz is about to create.
cfg.required_extensions = DeviceIOSession.get_required_extensions(trackers)
viz_session = televiz.VizSession.create(cfg)
viz_cfg.required_extensions = DeviceIOSession.get_required_extensions(trackers)
viz_session = televiz.VizSession.create(viz_cfg)
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config = TeleopSessionConfig(
tlop_cfg = TeleopSessionConfig(
app_name="MyApp",
pipeline=pipeline,
oxr_handles=OpenXRSessionHandles(*viz_session.get_oxr_handles()),
)
with TeleopSession(config) as session:
with TeleopSession(tlop_cfg) as session:
while running:
session.step()
cam_layer.submit(camera_frame)
Expand Down
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