Add CloudXR VR streaming support for PICO 4 Ultra (Early Access)

Replaces manual H264/TCP stereo streaming with NVIDIA CloudXR for higher-quality stereoscopic rendering and lower latency. Changes: - teleop_xr_agent.py: add --cloudxr flag (enables Isaac Sim XR mode, disables manual StreamingManager) - deps/cloudxr/: NVIDIA CloudXR.js SDK (Early Access) with Isaac Lab teleop React web client - deps/cloudxr/Dockerfile.wss.proxy: HAProxy WSS proxy for PICO 4 Ultra HTTPS mode (routes wss://48322 → ws://49100) - deps/cloudxr/isaac/webpack.dev.js: disable file watching to avoid EMFILE errors with large node_modules - deps/cloudxr/INSTALL.md: full setup guide Usage: # Start CloudXR Runtime + Isaac Lab cd ~/IsaacLab && ./docker/container.py start \ --files docker-compose.cloudxr-runtime.patch.yaml \ --env-file .env.cloudxr-runtime # Run teleop with CloudXR ~/IsaacLab/isaaclab.sh -p teleop_xr_agent.py \ --task Isaac-MindRobot-2i-DualArm-IK-Abs-v0 --cloudxr # Serve web client cd deps/cloudxr/isaac && npm run dev-server:https
2026-03-26 14:29:03 +08:00
parent eef7ff838d
commit 623e05f250
133 changed files with 24869 additions and 2 deletions
--- a/deps/cloudxr/helpers/LoadIWER.ts
+++ b/deps/cloudxr/helpers/LoadIWER.ts
@@ -0,0 +1,98 @@
+const IWER_version = '2.1.1';
+const IWER_DEVUI_version = '1.1.2';
+
+export interface IWERLoadResult {
+  supportsImmersive: boolean;
+  iwerLoaded: boolean;
+}
+
+export async function loadIWERIfNeeded(): Promise<IWERLoadResult> {
+  let supportsImmersive = false;
+  let iwerLoaded = false;
+
+  if ('xr' in navigator) {
+    try {
+      const vr = await (navigator.xr as XRSystem).isSessionSupported?.('immersive-vr');
+      const ar = await (navigator.xr as XRSystem).isSessionSupported?.('immersive-ar');
+      supportsImmersive = Boolean(vr || ar);
+    } catch (_) {}
+  }
+
+  if (!supportsImmersive) {
+    console.info('Immersive mode not supported, loading IWER as fallback.');
+
+    // Load IWER first
+    const script = document.createElement('script');
+    script.src = `https://unpkg.com/iwer@${IWER_version}/build/iwer.min.js`;
+    script.async = true;
+    script.integrity = 'sha384-ZOdYbNlfA4q9jkBGcdmjy2ZYmjxy2uzncU6it3cPOHi12/WF048bamSU0Z5N+V5u';
+    script.crossOrigin = 'anonymous';
+
+    await new Promise<void>(resolve => {
+      script.onload = async () => {
+        console.info('IWER loaded as fallback.');
+        const IWERGlobal = (window as any).IWER || (globalThis as any).IWER;
+        if (!IWERGlobal) {
+          console.warn('IWER global not found after script load.');
+          supportsImmersive = false;
+          resolve();
+          return;
+        }
+
+        // Load iwer-devui after IWER
+        const devUIScript = document.createElement('script');
+        devUIScript.src = `https://unpkg.com/@iwer/devui@${IWER_DEVUI_version}/build/iwer-devui.min.js`;
+        devUIScript.async = true;
+        devUIScript.integrity =
+          'sha384-CG/gISX6PadiSzc8i2paU7CYLVsnVJaJ0tgoVnAPq/gyiTX6bddG5rwOgMDGlq74';
+        devUIScript.crossOrigin = 'anonymous';
+
+        await new Promise<void>(devUIResolve => {
+          devUIScript.onload = () => {
+            console.info('IWER DevUI loaded.');
+            devUIResolve();
+          };
+          devUIScript.onerror = error => {
+            console.warn('Failed to load IWER DevUI:', error);
+            devUIResolve();
+          };
+          document.head.appendChild(devUIScript);
+        });
+
+        try {
+          // Create XRDevice with Meta Quest 3 profile
+          const xrDevice = new IWERGlobal.XRDevice(IWERGlobal.metaQuest3);
+
+          // Initialize DevUI with the XR device
+          const IWER_DevUI = (window as any).IWER_DevUI || (globalThis as any).IWER_DevUI;
+          if (IWER_DevUI?.DevUI) {
+            xrDevice.installDevUI(IWER_DevUI.DevUI);
+            console.info('IWER DevUI initialized with XR device.');
+          } else {
+            console.warn('IWER DevUI not found after script load, continuing without DevUI.');
+          }
+
+          // Install the runtime and wait for it to be ready
+          const maybePromise = xrDevice.installRuntime?.();
+          if (maybePromise && typeof maybePromise.then === 'function') {
+            await maybePromise;
+          }
+          supportsImmersive = true;
+          iwerLoaded = true;
+        } catch (e) {
+          console.warn('IWER runtime install failed:', e);
+          supportsImmersive = false;
+        }
+        resolve();
+      };
+      script.onerror = () => {
+        console.warn('Failed to load IWER.');
+        supportsImmersive = false;
+        resolve();
+      };
+      document.head.appendChild(script);
+    });
+  }
+
+  return { supportsImmersive, iwerLoaded };
+}