docs(cloudxr): update INSTALL.md - SDK already in deps/cloudxr

Clarify that CloudXR.js SDK is already included in deps/cloudxr/, no separate download needed. Users only need NGC credentials to pull the cloudxr-runtime-early-access Docker image.
Add CloudXR VR streaming support for PICO 4 Ultra (Early Access)
2026-03-27 11:29:06 +08:00 · 2026-03-26 14:29:03 +08:00 · 2026-03-25 16:32:52 +08:00 · 2026-03-25 11:32:28 +08:00 · 2026-03-23 22:06:13 +08:00 · 2026-03-21 21:39:21 +08:00
253 changed files with 36149 additions and 4377 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -74,3 +74,6 @@ tests/

 # Docker history
 .isaac-lab-docker-history
+
+# Local dependencies (not uploaded to repo)
+deps/XRoboToolkit-Teleop-Sample-Python
--- a/.gitmodules
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "deps/zed-isaac-sim"]
+	path = deps/zed-isaac-sim
+	url = https://github.com/stereolabs/zed-isaac-sim.git
--- a/.vscode/extensions.json
+++ b/.vscode/extensions.json
@@ -1,13 +0,0 @@
-{
-	// See http://go.microsoft.com/fwlink/?LinkId=827846
-	// for the documentation about the extensions.json format
-	"recommendations": [
-		"ms-python.python",
-		"ms-python.vscode-pylance",
-		"ban.spellright",
-		"ms-iot.vscode-ros",
-		"ms-python.black-formatter",
-		"ms-python.flake8",
-		"saoudrizwan.claude-dev",
-	]
-}
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -1,23 +0,0 @@
-{
-    "version": "2.0.0",
-    "tasks": [
-        {
-            "label": "setup_python_env",
-            "type": "shell",
-            "linux": {
-                "command": "${input:isaac_path}/python.sh ${workspaceFolder}/.vscode/tools/setup_vscode.py --isaac_path ${input:isaac_path}"
-            },
-            "windows": {
-                "command": "${input:isaac_path}/python.bat ${workspaceFolder}/.vscode/tools/setup_vscode.py --isaac_path ${input:isaac_path}"
-            }
-        }
-    ],
-    "inputs": [
-        {
-            "id": "isaac_path",
-            "description": "Absolute path to the current Isaac Sim installation. If you installed IsaacSim from pip, the import of it failed. Please make sure you run the task with the correct python environment. As fallback, you can directly execute the python script by running: ``python.sh <path-to-your-project>/.vscode/tools/setup_vscode.py``",
-            "default": "C:/isaacsim",
-            "type": "promptString"
-        },
-    ]
-}
--- a/.vscode/tools/launch.template.json
+++ b/.vscode/tools/launch.template.json
@@ -4,822 +4,54 @@
    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
    "version": "0.2.0",
    "configurations": [
-        // For standalone script execution
        {
            "name": "Python: Current File",
-            "type": "debugpy",
+            "type": "python",
            "request": "launch",
            "program": "${file}",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Train Template-Mindbot-Direct-v0 with rl_games (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless"],
-            "program": "${workspaceFolder}/scripts/rl_games/train.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Play Template-Mindbot-Direct-v0 with rl_games (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32"],
-            "program": "${workspaceFolder}/scripts/rl_games/play.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Train Template-Mindbot-Direct-v0 with rsl_rl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless"],
-            "program": "${workspaceFolder}/scripts/rsl_rl/train.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Play Template-Mindbot-Direct-v0 with rsl_rl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32"],
-            "program": "${workspaceFolder}/scripts/rsl_rl/play.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Train Template-Mindbot-Direct-v0 with skrl (AMP)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "AMP"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Play Template-Mindbot-Direct-v0 with skrl (AMP)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32", "--algorithm", "AMP"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Train Template-Mindbot-Direct-v0 with skrl (IPPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "IPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Play Template-Mindbot-Direct-v0 with skrl (IPPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32", "--algorithm", "IPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Train Template-Mindbot-Direct-v0 with skrl (MAPPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "MAPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Play Template-Mindbot-Direct-v0 with skrl (MAPPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32", "--algorithm", "MAPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Train Template-Mindbot-Direct-v0 with skrl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "PPO"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Play Template-Mindbot-Direct-v0 with skrl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32", "--algorithm", "PPO"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Train Template-Mindbot-Direct-v0 with sb3 (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless"],
-            "program": "${workspaceFolder}/scripts/sb3/train.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Play Template-Mindbot-Direct-v0 with sb3 (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32"],
-            "program": "${workspaceFolder}/scripts/sb3/play.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Train Template-Mindbot-Marl-Direct-v0 with rl_games (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless"],
-            "program": "${workspaceFolder}/scripts/rl_games/train.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Play Template-Mindbot-Marl-Direct-v0 with rl_games (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32"],
-            "program": "${workspaceFolder}/scripts/rl_games/play.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Train Template-Mindbot-Marl-Direct-v0 with rsl_rl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless"],
-            "program": "${workspaceFolder}/scripts/rsl_rl/train.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Play Template-Mindbot-Marl-Direct-v0 with rsl_rl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32"],
-            "program": "${workspaceFolder}/scripts/rsl_rl/play.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Train Template-Mindbot-Marl-Direct-v0 with skrl (AMP)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "AMP"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Play Template-Mindbot-Marl-Direct-v0 with skrl (AMP)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32", "--algorithm", "AMP"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Train Template-Mindbot-Marl-Direct-v0 with skrl (IPPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "IPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Play Template-Mindbot-Marl-Direct-v0 with skrl (IPPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32", "--algorithm", "IPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Train Template-Mindbot-Marl-Direct-v0 with skrl (MAPPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "MAPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Play Template-Mindbot-Marl-Direct-v0 with skrl (MAPPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32", "--algorithm", "MAPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Train Template-Mindbot-Marl-Direct-v0 with skrl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "PPO"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Play Template-Mindbot-Marl-Direct-v0 with skrl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32", "--algorithm", "PPO"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Train Template-Mindbot-Marl-Direct-v0 with sb3 (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless"],
-            "program": "${workspaceFolder}/scripts/sb3/train.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Play Template-Mindbot-Marl-Direct-v0 with sb3 (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32"],
-            "program": "${workspaceFolder}/scripts/sb3/play.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Train Template-Mindbot-v0 with rl_games (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless"],
-            "program": "${workspaceFolder}/scripts/rl_games/train.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Play Template-Mindbot-v0 with rl_games (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32"],
-            "program": "${workspaceFolder}/scripts/rl_games/play.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Train Template-Mindbot-v0 with rsl_rl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless"],
-            "program": "${workspaceFolder}/scripts/rsl_rl/train.py",
-            "console": "integratedTerminal",
+            "console": "integratedTerminal"
        },
        {
-            "name": "Python: Play Template-Mindbot-v0 with rsl_rl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32"],
-            "program": "${workspaceFolder}/scripts/rsl_rl/play.py",
-            "console": "integratedTerminal",
+            "name": "Python: Attach (windows-x86_64/linux-x86_64)",
+            "type": "python",
+            "request": "attach",
+            "port": 3000,
+            "host": "localhost"
        },
        {
-            "name": "Python: Train Template-Mindbot-v0 with skrl (AMP)",
-            "type": "debugpy",
+            "name": "Python: Train Environment",
+            "type": "python",
            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless", "--algorithm", "AMP"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
+            "args" : ["--task", "Isaac-Reach-Franka-v0", "--headless"],
+            "program": "${workspaceFolder}/scripts/reinforcement_learning/rsl_rl/train.py",
+            "console": "integratedTerminal"
        },
        {
-            "name": "Python: Play Template-Mindbot-v0 with skrl (AMP)",
-            "type": "debugpy",
+            "name": "Python: Play Environment",
+            "type": "python",
            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32", "--algorithm", "AMP"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
+            "args" : ["--task", "Isaac-Reach-Franka-v0", "--num_envs", "32"],
+            "program": "${workspaceFolder}/scripts/reinforcement_learning/rsl_rl/play.py",
+            "console": "integratedTerminal"
        },
        {
-            "name": "Python: Train Template-Mindbot-v0 with skrl (IPPO)",
-            "type": "debugpy",
+            "name": "Python: SinglePytest",
+            "type": "python",
            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless", "--algorithm", "IPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Play Template-Mindbot-v0 with skrl (IPPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32", "--algorithm", "IPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
+            "module": "pytest",
+            "args": [
+              "${file}"
+            ],
+            "console": "integratedTerminal"
        },
        {
-            "name": "Python: Train Template-Mindbot-v0 with skrl (MAPPO)",
-            "type": "debugpy",
+            "name": "Python: ALL Pytest",
+            "type": "python",
            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless", "--algorithm", "MAPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
+            "module": "pytest",
+            "args": ["source/isaaclab/test"],
            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Play Template-Mindbot-v0 with skrl (MAPPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32", "--algorithm", "MAPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Train Template-Mindbot-v0 with skrl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless", "--algorithm", "PPO"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Play Template-Mindbot-v0 with skrl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32", "--algorithm", "PPO"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Train Template-Mindbot-v0 with sb3 (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless"],
-            "program": "${workspaceFolder}/scripts/sb3/train.py",
-            "console": "integratedTerminal",
-        },
-        {
-            "name": "Python: Play Template-Mindbot-v0 with sb3 (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32"],
-            "program": "${workspaceFolder}/scripts/sb3/play.py",
-            "console": "integratedTerminal",
-        },
-        // For script execution inside a Docker
-        {
-            "name": "Docker: Current File",
-            "type": "debugpy",
-            "request": "launch",
-            "program": "${file}",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            }
-        },
-        {
-            "name": "Docker: Train Template-Mindbot-Direct-v0 with rl_games (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless"],
-            "program": "${workspaceFolder}/scripts/rl_games/train.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Play Template-Mindbot-Direct-v0 with rl_games (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32"],
-            "program": "${workspaceFolder}/scripts/rl_games/play.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Train Template-Mindbot-Direct-v0 with rsl_rl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless"],
-            "program": "${workspaceFolder}/scripts/rsl_rl/train.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Play Template-Mindbot-Direct-v0 with rsl_rl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32"],
-            "program": "${workspaceFolder}/scripts/rsl_rl/play.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Train Template-Mindbot-Direct-v0 with skrl (AMP)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "AMP"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Play Template-Mindbot-Direct-v0 with skrl (AMP)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32", "--algorithm", "AMP"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Train Template-Mindbot-Direct-v0 with skrl (IPPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "IPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Play Template-Mindbot-Direct-v0 with skrl (IPPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32", "--algorithm", "IPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Train Template-Mindbot-Direct-v0 with skrl (MAPPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "MAPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Play Template-Mindbot-Direct-v0 with skrl (MAPPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32", "--algorithm", "MAPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Train Template-Mindbot-Direct-v0 with skrl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "PPO"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Play Template-Mindbot-Direct-v0 with skrl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32", "--algorithm", "PPO"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Train Template-Mindbot-Direct-v0 with sb3 (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "4096", "--headless"],
-            "program": "${workspaceFolder}/scripts/sb3/train.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Play Template-Mindbot-Direct-v0 with sb3 (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Direct-v0", "--num_envs", "32"],
-            "program": "${workspaceFolder}/scripts/sb3/play.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Train Template-Mindbot-Marl-Direct-v0 with rl_games (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless"],
-            "program": "${workspaceFolder}/scripts/rl_games/train.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Play Template-Mindbot-Marl-Direct-v0 with rl_games (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32"],
-            "program": "${workspaceFolder}/scripts/rl_games/play.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Train Template-Mindbot-Marl-Direct-v0 with rsl_rl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless"],
-            "program": "${workspaceFolder}/scripts/rsl_rl/train.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Play Template-Mindbot-Marl-Direct-v0 with rsl_rl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32"],
-            "program": "${workspaceFolder}/scripts/rsl_rl/play.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Train Template-Mindbot-Marl-Direct-v0 with skrl (AMP)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "AMP"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Play Template-Mindbot-Marl-Direct-v0 with skrl (AMP)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32", "--algorithm", "AMP"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Train Template-Mindbot-Marl-Direct-v0 with skrl (IPPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "IPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Play Template-Mindbot-Marl-Direct-v0 with skrl (IPPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32", "--algorithm", "IPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Train Template-Mindbot-Marl-Direct-v0 with skrl (MAPPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "MAPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Play Template-Mindbot-Marl-Direct-v0 with skrl (MAPPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32", "--algorithm", "MAPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Train Template-Mindbot-Marl-Direct-v0 with skrl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless", "--algorithm", "PPO"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Play Template-Mindbot-Marl-Direct-v0 with skrl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32", "--algorithm", "PPO"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Train Template-Mindbot-Marl-Direct-v0 with sb3 (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "4096", "--headless"],
-            "program": "${workspaceFolder}/scripts/sb3/train.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Play Template-Mindbot-Marl-Direct-v0 with sb3 (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-Marl-Direct-v0", "--num_envs", "32"],
-            "program": "${workspaceFolder}/scripts/sb3/play.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Train Template-Mindbot-v0 with rl_games (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless"],
-            "program": "${workspaceFolder}/scripts/rl_games/train.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Play Template-Mindbot-v0 with rl_games (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32"],
-            "program": "${workspaceFolder}/scripts/rl_games/play.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Train Template-Mindbot-v0 with rsl_rl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless"],
-            "program": "${workspaceFolder}/scripts/rsl_rl/train.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Play Template-Mindbot-v0 with rsl_rl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32"],
-            "program": "${workspaceFolder}/scripts/rsl_rl/play.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Train Template-Mindbot-v0 with skrl (AMP)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless", "--algorithm", "AMP"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Play Template-Mindbot-v0 with skrl (AMP)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32", "--algorithm", "AMP"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Train Template-Mindbot-v0 with skrl (IPPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless", "--algorithm", "IPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Play Template-Mindbot-v0 with skrl (IPPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32", "--algorithm", "IPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Train Template-Mindbot-v0 with skrl (MAPPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless", "--algorithm", "MAPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Play Template-Mindbot-v0 with skrl (MAPPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32", "--algorithm", "MAPPO"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Train Template-Mindbot-v0 with skrl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless", "--algorithm", "PPO"],
-            "program": "${workspaceFolder}/scripts/skrl/train.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Play Template-Mindbot-v0 with skrl (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32", "--algorithm", "PPO"],
-            "program": "${workspaceFolder}/scripts/skrl/play.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Train Template-Mindbot-v0 with sb3 (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "4096", "--headless"],
-            "program": "${workspaceFolder}/scripts/sb3/train.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
-        {
-            "name": "Docker: Play Template-Mindbot-v0 with sb3 (PPO)",
-            "type": "debugpy",
-            "request": "launch",
-            "args" : ["--task", "Template-Mindbot-v0", "--num_envs", "32"],
-            "program": "${workspaceFolder}/scripts/sb3/play.py",
-            "console": "integratedTerminal",
-            "env": {
-                "PYTHONPATH": "${env:PYTHONPATH}:${workspaceFolder}"
-            },
-        },
+            "justMyCode": false
+        }
    ]
-}
+}
--- a/.vscode/tools/settings.template.json
+++ b/.vscode/tools/settings.template.json
@@ -1,4 +1,9 @@
 {
+    "files.exclude": {
+        "**/.mypy_cache": true,
+        "**/__pycache__": true,
+        "**/*.egg-info": true
+    },
    "files.associations": {
        "*.tpp": "cpp",
        "*.kit": "toml",
@@ -40,7 +45,6 @@
        "teleoperation",
        "xform",
        "numpy",
-        "tensordict",
        "flatcache",
        "physx",
        "dpad",
@@ -51,26 +55,21 @@
        "arange",
        "discretization",
        "trimesh",
-        "uninstanceable"
+        "uninstanceable",
+        "coeff",
+        "prestartup"
    ],
    // This enables python language server. Seems to work slightly better than jedi:
    "python.languageServer": "Pylance",
-    // We use "black" as a formatter:
-    "python.formatting.provider": "black",
-    "python.formatting.blackArgs": ["--line-length", "120"],
-    // Use flake8 for linting
-    "python.linting.pylintEnabled": false,
-    "python.linting.flake8Enabled": true,
-    "python.linting.flake8Args": [
-        "--max-line-length=120"
-    ],
+    // Use ruff as a formatter and linter
+    "ruff.configuration": "${workspaceFolder}/pyproject.toml",
    // Use docstring generator
    "autoDocstring.docstringFormat": "google",
    "autoDocstring.guessTypes": true,
    // Python environment path
    // note: the default interpreter is overridden when user selects a workspace interpreter
    //     in the status bar. For example, the virtual environment python interpreter
-    "python.defaultInterpreterPath": "",
+    "python.defaultInterpreterPath": "${workspaceFolder}/_isaac_sim/python.sh",
    // ROS distribution
    "ros.distro": "noetic",
    // Language specific settings
@@ -81,6 +80,6 @@
        "editor.tabSize": 2
    },
    // Python extra paths
-    // Note: this is filled up when vscode is set up for the first time
+    // Note: this is filled up when "./isaaclab.sh -i" is run
    "python.analysis.extraPaths": []
 }
--- a/.vscode/tools/setup_vscode.py
+++ b/.vscode/tools/setup_vscode.py
@@ -12,34 +12,21 @@ This is necessary because Isaac Sim 2022.2.1 onwards does not add the necessary
 when the "setup_python_env.sh" is run as part of the vs-code launch configuration.
 """

-import argparse
-import os
-import pathlib
-import platform
 import re
 import sys
+import os
+import pathlib

-PROJECT_DIR = pathlib.Path(__file__).parents[2]
-"""Path to the the project directory."""
+
+ISAACLAB_DIR = pathlib.Path(__file__).parents[2]
+"""Path to the Isaac Lab directory."""

 try:
    import isaacsim  # noqa: F401

    isaacsim_dir = os.environ.get("ISAAC_PATH", "")
 except ModuleNotFoundError or ImportError:
-    # Create a parser to get the isaac-sim path
-    parser = argparse.ArgumentParser(description="Setup the VSCode settings for the project.")
-    parser.add_argument("--isaac_path", type=str, help="The absolute path to the Isaac Sim installation.")
-    args = parser.parse_args()
-
-    # parse the isaac-sim directory
-    isaacsim_dir = args.isaac_path
-    # check if the isaac-sim directory is provided
-    if not os.path.exists(isaacsim_dir):
-        raise FileNotFoundError(
-            f"Could not find the isaac-sim directory: {isaacsim_dir}. Please provide the correct path to the Isaac Sim"
-            " installation."
-        )
+    isaacsim_dir = os.path.join(ISAACLAB_DIR, "_isaac_sim")
 except EOFError:
    print("Unable to trigger EULA acceptance. This is likely due to the script being run in a non-interactive shell.")
    print("Please run the script in an interactive shell to accept the EULA.")
@@ -49,11 +36,11 @@ except EOFError:
 # check if the isaac-sim directory exists
 if not os.path.exists(isaacsim_dir):
    raise FileNotFoundError(
-        f"Could not find the isaac-sim directory: {isaacsim_dir}. There are two possible reasons for this:\n\t1. The"
-        " Isaac Sim directory does not exist as provided CLI path.\n\t2. The script couldn't import the 'isaacsim'"
-        " package. This could be due to the 'isaacsim' package not being installed in the Python"
-        " environment.\n\nPlease make sure that the Isaac Sim directory exists or that the 'isaacsim' package is"
-        " installed."
+        f"Could not find the isaac-sim directory: {isaacsim_dir}. There are two possible reasons for this:"
+        f"\n\t1. The Isaac Sim directory does not exist as a symlink at: {os.path.join(ISAACLAB_DIR, '_isaac_sim')}"
+        "\n\t2. The script could not import the 'isaacsim' package. This could be due to the 'isaacsim' package not "
+        "being installed in the Python environment.\n"
+        "\nPlease make sure that the Isaac Sim directory exists or that the 'isaacsim' package is installed."
    )

 ISAACSIM_DIR = isaacsim_dir
@@ -98,7 +85,7 @@ def overwrite_python_analysis_extra_paths(isaaclab_settings: str) -> str:
        path_names = [path_name for path_name in path_names if len(path_name) > 0]

        # change the path names to be relative to the Isaac Lab directory
-        rel_path = os.path.relpath(ISAACSIM_DIR, PROJECT_DIR)
+        rel_path = os.path.relpath(ISAACSIM_DIR, ISAACLAB_DIR)
        path_names = ['"${workspaceFolder}/' + rel_path + "/" + path_name + '"' for path_name in path_names]
    else:
        path_names = []
@@ -111,7 +98,7 @@ def overwrite_python_analysis_extra_paths(isaaclab_settings: str) -> str:
        )

    # add the path names that are in the Isaac Lab extensions directory
-    isaaclab_extensions = os.listdir(os.path.join(PROJECT_DIR, "source"))
+    isaaclab_extensions = os.listdir(os.path.join(ISAACLAB_DIR, "source"))
    path_names.extend(['"${workspaceFolder}/source/' + ext + '"' for ext in isaaclab_extensions])

    # combine them into a single string
@@ -144,17 +131,15 @@ def overwrite_default_python_interpreter(isaaclab_settings: str) -> str:
        The settings string with overwritten default python interpreter.
    """
    # read executable name
-    python_exe = os.path.normpath(sys.executable)
-
-    # replace with Isaac Sim's python.sh or python.bat scripts to make sure python with correct
-    # source paths is set as default
-    if f"kit{os.sep}python{os.sep}bin{os.sep}python" in python_exe:
-        # Check if the OS is Windows or Linux to use appropriate shell file
-        if platform.system() == "Windows":
-            python_exe = python_exe.replace(f"kit{os.sep}python{os.sep}bin{os.sep}python3", "python.bat")
-        else:
-            python_exe = python_exe.replace(f"kit{os.sep}python{os.sep}bin{os.sep}python3", "python.sh")
+    python_exe = sys.executable.replace("\\", "/")

+    # We make an exception for replacing the default interpreter if the
+    # path (/kit/python/bin/python3) indicates that we are using a local/container
+    # installation of IsaacSim. We will preserve the calling script as the default, python.sh.
+    # We want to use python.sh because it modifies LD_LIBRARY_PATH and PYTHONPATH
+    # (among other envars) that we need for all of our dependencies to be accessible.
+    if "kit/python/bin/python3" in python_exe:
+        return isaaclab_settings
    # replace the default python interpreter in the Isaac Lab settings file with the path to the
    # python interpreter in the Isaac Lab directory
    isaaclab_settings = re.sub(
@@ -169,7 +154,7 @@ def overwrite_default_python_interpreter(isaaclab_settings: str) -> str:

 def main():
    # Isaac Lab template settings
-    isaaclab_vscode_template_filename = os.path.join(PROJECT_DIR, ".vscode", "tools", "settings.template.json")
+    isaaclab_vscode_template_filename = os.path.join(ISAACLAB_DIR, ".vscode", "tools", "settings.template.json")
    # make sure the Isaac Lab template settings file exists
    if not os.path.exists(isaaclab_vscode_template_filename):
        raise FileNotFoundError(
@@ -195,13 +180,13 @@ def main():
    isaaclab_settings = header_message + isaaclab_settings

    # write the Isaac Lab settings file
-    isaaclab_vscode_filename = os.path.join(PROJECT_DIR, ".vscode", "settings.json")
+    isaaclab_vscode_filename = os.path.join(ISAACLAB_DIR, ".vscode", "settings.json")
    with open(isaaclab_vscode_filename, "w") as f:
        f.write(isaaclab_settings)

    # copy the launch.json file if it doesn't exist
-    isaaclab_vscode_launch_filename = os.path.join(PROJECT_DIR, ".vscode", "launch.json")
-    isaaclab_vscode_template_launch_filename = os.path.join(PROJECT_DIR, ".vscode", "tools", "launch.template.json")
+    isaaclab_vscode_launch_filename = os.path.join(ISAACLAB_DIR, ".vscode", "launch.json")
+    isaaclab_vscode_template_launch_filename = os.path.join(ISAACLAB_DIR, ".vscode", "tools", "launch.template.json")
    if not os.path.exists(isaaclab_vscode_launch_filename):
        # read template launch settings
        with open(isaaclab_vscode_template_launch_filename) as f:
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -0,0 +1,201 @@
+# MindBot Project
+
+基于 Isaac Lab 的移动操作机器人（MindRobot）仿真学习框架，支持强化学习（RL）、模仿学习（IL）和 XR 遥操作。
+
+## 环境要求
+
+- **Isaac Sim**: 5.1.0
+- **Python**: 3.11
+- **GPU**: NVIDIA RTX PRO 6000 96GB（开发机），推荐开启 DLSS
+- **依赖**: isaaclab, isaaclab_assets, isaaclab_mimic, isaaclab_rl, isaaclab_tasks
+- **Conda 环境**：
+  - `env_isaaclab` — 主开发环境
+  - `xr` — XR 遥操作 + 仿真推流环境，包含 isaaclab/isaacsim + PyAV
+
+**IMPORTANT**: 所有 Isaac Lab 脚本必须通过 `~/IsaacLab/isaaclab.sh -p` 启动，直接用 `python` 会报 `KeyError: 'EXP_PATH'`（该变量只有 `isaaclab.sh` 会在启动时设置）。
+
+```bash
+# 安装包
+~/IsaacLab/isaaclab.sh -p -m pip install -e source/mindbot
+```
+
+## 关键环境变量
+
+```bash
+export MINDBOT_ASSETS_DIR=/home/tangger/LYT/maic_usd_assets_moudle  # USD 资源路径（默认值）
+```
+
+## 常用命令
+
+```bash
+# 列出所有注册环境
+python scripts/list_envs.py
+
+# 测试环境（零动作 / 随机动作）
+python scripts/zero_agent.py --task Template-Mindbot-v0 --num_envs 4
+python scripts/random_agent.py --task Template-Mindbot-v0 --num_envs 4
+
+# RL 训练（RSL-RL PPO）
+python scripts/rsl_rl/train.py --task Template-Mindbot-v0 --num_envs 4096
+
+# RL 推理
+python scripts/rsl_rl/play.py --task Template-Mindbot-v0
+
+# 遥操作（Spacemouse / 键盘）
+python scripts/environments/teleoperation/teleop_se3_agent.py --task Isaac-MindRobot-LeftArm-IK-Rel-v0
+
+# 遥操作（XR 双臂 + 头部控制）
+python scripts/environments/teleoperation/teleop_xr_agent.py --task Isaac-MindRobot-2i-DualArm-IK-Abs-v0
+
+# 遥操作（XR 双臂，无头部）
+python scripts/environments/teleoperation/teleop_xr_agent.py --task Isaac-MindRobot-DualArm-IK-Abs-v0
+
+# 遥操作 + 仿真画面推送到 PICO VR（需要 --enable_cameras）
+python scripts/environments/teleoperation/teleop_xr_agent.py \
+  --task Isaac-MindRobot-2i-DualArm-IK-Abs-v0 \
+  --stream-to <PICO_IP> --enable_cameras
+
+# 推流测试（不需要 Isaac Lab，用 xr 环境直接运行）
+conda run -n xr python scripts/test_sim_streamer.py --host <PICO_IP>
+
+# 代码格式化
+pre-commit run --all-files
+```
+
+## 项目架构
+
+```
+source/mindbot/mindbot/
+├── robot/mindbot.py              # MindRobot 关节/执行器配置（MINDBOT_CFG）
+├── utils/
+│   ├── assets.py                 # USD 资源路径（MINDBOT_ASSETS_DIR）
+│   └── sim_video_streamer.py     # 仿真→VR H264推流模块（PyAV编码 + TCP）
+└── tasks/manager_based/
+    ├── rl/                       # 强化学习任务
+    │   ├── mindbot/              # Template-Mindbot-v0（抓取）
+    │   ├── centrifuge/           # Template-centrifuge-lidup-v0
+    │   ├── pull/                 # Template-Pull-v0
+    │   └── pullUltrasoundLidUp/  # Pull-Ultrasound-Lid-Up-v0
+    └── il/                       # 模仿学习任务
+        ├── demo/                 # Demo 任务（H1、Franka）
+        └── open_drybox/          # 双臂遥操作任务
+
+scripts/environments/teleoperation/
+├── teleop_xr_agent.py            # PICO XR 遥操作（双臂/单臂，支持仿真推流）
+├── teleop_se3_agent.py           # Spacemouse/键盘 遥操作
+└── test_sim_streamer.py          # 推流独立测试（红蓝测试图案）
+
+deps/
+├── XRoboToolkit-Teleop-Sample-Python/  # XR SDK Python 封装
+├── XRoboToolkit-RobotVision-PC/        # 物理ZED相机采集+H264推流（C++）
+└── zed-isaac-sim/                      # ZED 仿真扩展（Isaac Sim OGN）
+```
+
+## 注册任务列表
+
+| 任务 ID | 类型 | Action维度 | 说明 |
+|---|---|---|---|
+| `Template-Mindbot-v0` | RL | - | MindRobot 抓取 |
+| `Template-centrifuge-lidup-v0` | RL | - | 离心机旋转 |
+| `Template-Pull-v0` | RL | - | 物体拉取 |
+| `Pull-Ultrasound-Lid-Up-v0` | RL | - | 超声机盖拉取 |
+| `Isaac-MindRobot-LeftArm-IK-Rel-v0` | IL | 12D | 左臂 IK 相对控制 |
+| `Isaac-MindRobot-LeftArm-IK-Abs-v0` | IL | 12D | 左臂 IK 绝对控制 |
+| `Isaac-MindRobot-DualArm-IK-Abs-v0` | IL | 20D | 双臂 IK（无头部） |
+| `Isaac-MindRobot-2i-DualArm-IK-Abs-v0` | IL | 22D | 双臂 IK + 头部（带VR推流相机） |
+
+## XR 遥操作
+
+### teleop_xr_agent.py 功能
+
+- **双臂绝对 IK 控制**：左右 PICO 手柄分别控制左右机械臂
+- **Grip 按钮**：按住移动手臂，松开锁定关节（缓存 root-frame IK 命令）
+- **左摇杆**：底盘前后/转向（直接速度控制，绕过摩擦限制）
+- **左手 Y 键**：重置环境（右手 B 键不触发重置）
+- **头部追踪**：HMD 偏航/俯仰映射到机器人头部关节（仅 2i 任务）
+- **`--stream-to`**：将仿真立体相机画面实时推送到 PICO VR 显示
+
+### 仿真→VR 推流架构
+
+```
+Isaac Lab env.step()
+  → vr_left_eye / vr_right_eye (CameraCfg, 1280x720)
+  → .cpu().numpy() (GPU→CPU)
+  → SimVideoStreamer (后台线程: np.concatenate SBS → PyAV H264 → TCP)
+  → PICO Unity Client (TCP Server :12345, H264解码 + VR双眼显示)
+```
+
+- TCP 协议：4字节大端长度头 + H264 NALU（与 RobotVisionConsole 相同）
+- Unity Client 零修改，选择 SIM-Stereo 或 ZEDMINI 配置均可
+- PICO 端 `video_source.yml` 通过 adb push 热更新：
+  ```bash
+  adb push Assets/StreamingAssets/video_source.yml \
+    /sdcard/Android/data/com.xrobotoolkit.client/files/video_source.yml
+  adb shell am force-stop com.xrobotoolkit.client
+  ```
+
+### 性能优化
+
+- **decimation=4**（25Hz 控制频率，平衡 FPS 和响应性）
+- 推流时可关闭调试 viewport 节省 GPU（`--stream-to` 默认关，`--debug-viewports` 开）
+- Isaac Sim 开启 **DLSS + Frame Generation** 提升渲染帧率
+- 编码在后台线程异步执行，不阻塞主仿真循环
+
+### ZED 2i 物理相机的 IPD 问题
+
+ZED 2i 基线 120mm >> 人眼 IPD 65mm，直接在 VR 中显示会导致所有距离视差过大，无法融合3D。
+- Shader `stereoOffset` 只是 toe-in 矫正，只对一个固定距离有效
+- PC 端深度矫正（DIBR）理论正确但 artifact 严重
+- **根本解决**：在仿真中用 65mm 基线虚拟相机，或使用 ZED Mini（63mm ≈ 人眼 IPD）
+
+## 新增任务的规范
+
+### RL 任务结构
+```
+tasks/manager_based/rl/<task_name>/
+├── __init__.py              # gym.register(id="<TaskId>-v0", ...)
+├── <task_name>_env_cfg.py   # ManagerBasedRLEnvCfg 子类
+├── agents/
+│   └── rsl_rl_ppo_cfg.py   # RslRlOnPolicyRunnerCfg 子类
+└── mdp/
+    ├── rewards.py
+    ├── terminations.py
+    └── __init__.py
+```
+
+### IL 任务结构
+```
+tasks/manager_based/il/<task_name>/
+├── __init__.py              # gym.register with robomimic_bc_cfg_entry_point
+├── <task_name>_env_cfg.py   # ManagerBasedRLEnvCfg 子类（使用 DifferentialIKController）
+└── agents/robomimic/
+    └── bc_rnn_low_dim.json  # RoboMimic BC 配置
+```
+
+新任务的 `__init__.py` 必须在 `mindbot/tasks/manager_based/__init__.py` 中 import 才能注册到 Gym。
+
+## 代码风格
+
+- 文件头使用 SPDX 许可证注释：`# SPDX-FileCopyrightText: Copyright (c) 2022-2025, The Isaac Lab Project Developers.`
+- 关节角度配置用弧度，注释中可标注对应度数
+- 执行器刚度/阻尼参数调整需在注释中说明物理含义
+
+## MindRobot 关节组
+
+| 关节组 | 关节名 |
+|---|---|
+| 左臂（6 自由度） | l_joint1 ~ l_joint6 |
+| 右臂（6 自由度） | r_joint1 ~ r_joint6 |
+| 左夹爪 | left_hand_joint_left/right |
+| 右夹爪 | right_hand_joint_left/right |
+| 躯干升降 | PrismaticJoint |
+| 头部 | head_revoluteJoint, head_pitch_Joint |
+| 底盘轮子 | front/back revolute joints |
+
+## 遥操作数据收集
+
+- Isaac Lab 内遥操作脚本使用 `xr` 环境（包含 isaaclab + XR SDK）
+- XR 设备接入依赖 `deps/XRoboToolkit-Teleop-Sample-Python/`
+- 示教数据格式兼容 LeRobot / RoboMimic
+- 多相机配置：cam_head, cam_chest, cam_left_hand, cam_right_hand, cam_top, cam_side
+- VR 立体相机：vr_left_eye, vr_right_eye（ZED_X CameraLeft/CameraRight）
--- a/README.md
+++ b/README.md
@@ -132,4 +132,8 @@ Some examples of packages that can likely be excluded are:
 "<path-to-isaac-sim>/extscache/omni.graph.*"        // Graph UI tools
 "<path-to-isaac-sim>/extscache/omni.services.*"     // Services tools
 ...
-```
+```
+
+
+
+python scripts/environments/teleoperation/teleop_se3_agent.py --task Isaac-MindRobot-LeftArm-IK-Rel-v0 --teleop_device spacemouse
--- a/check_hdf5.py
+++ b/check_hdf5.py
@@ -0,0 +1,24 @@
+import h5py
+
+file_path = "/home/maic/LYT/mindbot/datasets/mindrobot_demos.hdf5"
+
+with h5py.File(file_path, "r") as f:
+    print("文件结构：")
+    
+    def print_structure(name, obj):
+        print(name)
+    
+    f.visititems(print_structure)
+
+    print("\n开始打印前 50 条数据：\n")
+
+    def print_first_50(name, obj):
+        if isinstance(obj, h5py.Dataset):
+            print(f"\nDataset: {name}")
+            print("Shape:", obj.shape)
+            
+            # 只打印前 50 条
+            data = obj[:50]
+            print(data)
+
+    f.visititems(print_first_)
--- a/create_liquid.py
+++ b/create_liquid.py
@@ -1,129 +0,0 @@
-import omni.isaac.core.utils.prims as prim_utils
-from omni.isaac.core.simulation_context import SimulationContext
-from omni.isaac.core.utils.stage import get_current_stage
-from pxr import UsdGeom, UsdPhysics, PhysxSchema, Gf, Sdf
-
-# 引入 PhysX 粒子工具 (Omniverse 内置库)
-import omni.physx.scripts.utils as physxUtils
-import omni.physx.scripts.particleUtils as particleUtils
-
-def create_fluid_scene():
-    stage = get_current_stage()
-    
-    # 1. 初始化仿真环境
-    sim = SimulationContext()
-    # 确保物理频率适合流体 (流体通常需要更小的步长或更多的子步)
-    sim.set_simulation_dt(physics_dt=1.0 / 60.0, rendering_dt=1.0 / 60.0)
-
-    # 2. 创建粒子系统 (Particle System)
-    # 这是管理所有流体粒子的容器
-    particle_system_path = "/World/FluidSystem"
-    particleUtils.add_physx_particle_system(
-        stage=stage,
-        particle_system_path=particle_system_path,
-        simulation_owner=None,
-        radius=0.02,  # 粒子半径（决定流体分辨率）
-        contact_offset=0.03,
-        solid_rest_offset=0.02,
-        fluid_rest_offset=0.02,
-        mode="fluid" # 设置为流体模式
-    )
-
-    # 3. 创建流体材质 (定义粘度)
-    # 对于像蜂蜜或洗发水这样的"带流性"液体，需要高粘度
-    material_path = "/World/FluidMaterial"
-    particleUtils.add_pbd_particle_material(
-        stage=stage,
-        path=material_path,
-        cohesion=0.02,    # 内聚力 (让液体聚在一起)
-        viscosity=0.5,     # 粘度 (关键参数：数值越大越粘稠，如蜂蜜)
-        surface_tension=0.01, # 表面张力
-        friction=0.1,      # 粒子间摩擦
-        damping=0.1       # 阻尼
-    )
-
-    # 4. 创建流体几何体 (在试管初始位置生成一堆粒子)
-    # 假设我们在 (0, 0, 0.5) 的位置生成一团液体
-    fluid_path = "/World/Liquid"
-    # 使用网格采样创建粒子点集
-    particleUtils.add_physx_particleset_pointinstancer(
-        stage=stage,
-        path=fluid_path,
-        particle_system_path=particle_system_path,
-        self_collision=True,
-        fluid=True,
-        particle_group=0,
-        particle_mass=0.001,
-        density=1000.0 # 水的密度
-    )
-    
-    # 这里的关键是将材质绑定到几何体
-    physxUtils.add_physics_material_to_prim(stage, stage.GetPrimAtPath(fluid_path), material_path)
-
-    # 这里的逻辑通常需要编写一个简单的生成器，在空间中填满粒子
-    # 为了演示简单，我们假设通过 create_grid_particles 生成位置
-    # 在实际 Isaac Lab 中，你通常会加载一个预先保存好的带粒子的 USD，或者使用 SamplingAPI
-    points = []
-    for x in range(5):
-        for y in range(5):
-             for z in range(10):
-                 points.append(Gf.Vec3f(x*0.04, y*0.04, 0.5 + z*0.04))
-    
-    # 将坐标赋予粒子系统
-    points_attr = stage.GetPrimAtPath(fluid_path).GetAttribute("positions")
-    points_attr.Set(points)
-
-    # 5. 创建容器 (烧杯和试管)
-    # 这里使用简单的圆柱管演示，实际应用需加载 .usd 模型
-    
-    # 烧杯 (底部接收)
-    beaker_path = "/World/Beaker"
-    prim_utils.create_cyl(
-        prim_path=beaker_path,
-        radius=0.15,
-        height=0.2,
-        position=Gf.Vec3d(0, 0, 0.1)
-    )
-    # 注意：PrimUtils创建的是实心凸包，流体进不去。
-    # 关键步骤：必须将容器碰撞改为 Mesh (SDF) 或手动用多个面拼成空心杯子。
-    # 在代码中通常加载自定义 USD 资产，这里仅做说明：
-    # setup_concave_collision(beaker_path) 
-
-    # 试管 (上方倒水)
-    tube_path = "/World/TestTube"
-    tube = prim_utils.create_cyl(
-        prim_path=tube_path,
-        radius=0.05,
-        height=0.2,
-        position=Gf.Vec3d(0.2, 0, 0.6) # 位于烧杯上方侧面
-    )
-    # 为试管添加刚体属性以便旋转
-    physxUtils.set_rigid_body_properties(stage, tube_path)
-
-    return sim, tube_path
-
-def run_simulation(sim, tube_path):
-    # 6. 开始循环并执行“倒水”动作
-    sim.initialize_physics()
-    sim.play()
-    
-    stage = get_current_stage()
-    tube_prim = stage.GetPrimAtPath(tube_path)
-    xform = UsdGeom.Xformable(tube_prim)
-
-    # 模拟 500 帧
-    for i in range(500):
-        # 简单的运动学控制：慢慢旋转试管
-        if i < 200: 
-            # 旋转以倒出液体 (欧拉角或四元数)
-            rotation = Gf.Rotation(Gf.Vec3d(0, 1, 0), i * 0.5) # 绕Y轴旋转
-            # 注意：实际代码需处理完整的 Transform 设置
-            current_xform = xform.GetLocalTransformation()
-            # 这里简化处理，直接更新姿态逻辑需根据具体场景编写
-            
-        sim.step()
-
-# 执行
-if __name__ == "__main__":
-    sim, tube = create_fluid_scene()
-    run_simulation(sim, tube)
--- a/deps/XRoboToolkit-RobotVision-PC
+++ b/deps/XRoboToolkit-RobotVision-PC
--- a/deps/XRoboToolkit-Teleop-Sample-Python
+++ b/deps/XRoboToolkit-Teleop-Sample-Python
--- a/deps/XRoboToolkit-Unity-Client
+++ b/deps/XRoboToolkit-Unity-Client
--- a/deps/cloudxr/Dockerfile.wss.proxy
+++ b/deps/cloudxr/Dockerfile.wss.proxy
@@ -0,0 +1,13 @@
+FROM haproxy:3.2
+USER root
+RUN apt-get update && apt-get install -y bash gettext-base openssl && rm -rf /var/lib/apt/lists/*
+RUN mkdir -p /usr/local/etc/haproxy/certs && chown -R haproxy:haproxy /usr/local/etc/haproxy
+
+RUN printf '#!/bin/bash\ncd /usr/local/etc/haproxy/certs\nopenssl req -x509 -newkey rsa:2048 -keyout server.key -out server.crt -days 365 -nodes -subj "/CN=localhost" -quiet\ncat server.crt server.key > server.pem\nchown haproxy:haproxy server.key server.crt server.pem\nchmod 600 server.key server.pem\nchmod 644 server.crt\n' > /usr/local/bin/generate-cert.sh && chmod +x /usr/local/bin/generate-cert.sh
+
+RUN printf 'global\n    log stdout local0 info\n    stats timeout 30s\n    user haproxy\ndefaults\n    log global\n    option httplog\n    option dontlognull\n    timeout connect 5s\n    timeout client 3600s\n    timeout server 3600s\n    timeout tunnel 3600s\nfrontend websocket_frontend\n    bind *:${PROXY_PORT} ${PROXY_SSL_BIND_OPTIONS}\n    mode http\n    http-response set-header Access-Control-Allow-Origin "*"\n    http-response set-header Access-Control-Allow-Headers "*"\n    http-response set-header Access-Control-Allow-Methods "GET, POST, PUT, DELETE, OPTIONS"\n    http-request return status 200 content-type "text/plain" string "OK" if METH_OPTIONS\n    default_backend websocket_backend\nbackend websocket_backend\n    mode http\n    server local_websocket ${BACKEND_HOST}:${BACKEND_PORT} check inter 2s rise 2 fall 3 on-marked-down shutdown-sessions\n' > /usr/local/etc/haproxy/haproxy.cfg.template && chown haproxy:haproxy /usr/local/etc/haproxy/haproxy.cfg.template
+
+RUN printf '#!/bin/bash\nexport BACKEND_HOST=${BACKEND_HOST:-localhost}\nexport BACKEND_PORT=${BACKEND_PORT:-49100}\nexport PROXY_PORT=${PROXY_PORT:-48322}\n/usr/local/bin/generate-cert.sh\nexport PROXY_SSL_BIND_OPTIONS="ssl crt /usr/local/etc/haproxy/certs/server.pem"\nenvsubst < /usr/local/etc/haproxy/haproxy.cfg.template > /usr/local/etc/haproxy/haproxy.cfg\necho "WSS Proxy: wss://0.0.0.0:${PROXY_PORT} -> ws://${BACKEND_HOST}:${BACKEND_PORT}"\nexec haproxy -f /usr/local/etc/haproxy/haproxy.cfg\n' > /entrypoint.sh && chmod +x /entrypoint.sh
+
+USER haproxy
+ENTRYPOINT ["/entrypoint.sh"]
--- a/deps/cloudxr/INSTALL.md
+++ b/deps/cloudxr/INSTALL.md
@@ -0,0 +1,257 @@
+# CloudXR VR Teleoperation Setup Guide
+
+将 Isaac Lab 仿真画面通过 NVIDIA CloudXR 流式传输到 PICO 4 Ultra，实现沉浸式 VR 遥操作。
+
+## 架构
+
+```
+Isaac Sim (本地) ──OpenXR──► CloudXR Runtime (Docker)
+                                    │
+                               WebSocket (port 49100)
+                                    │
+                           HAProxy WSS Proxy (port 48322)
+                                    │
+                              PICO 4 Ultra 浏览器
+                           https://<IP>:8080 (Web App)
+```
+
+## 系统要求
+
+- Ubuntu 22.04 / 24.04
+- NVIDIA GPU (RTX 系列)
+- NVIDIA Driver 最新版
+- Docker + NVIDIA Container Toolkit
+- Isaac Lab 本地安装（`~/IsaacLab`）
+- PICO 4 Ultra (OS 15.4.4U 或更高)
+- CloudXR Early Access 资格（[申请地址](https://developer.nvidia.com/cloudxr-sdk)）
+- Node.js 20 LTS
+
+---
+
+## 一、系统环境准备
+
+### 1.1 安装 NVIDIA Container Toolkit
+
+```bash
+curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg
+curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
+    sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
+    sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
+sudo apt-get update
+sudo apt-get install -y nvidia-container-toolkit
+sudo nvidia-ctk runtime configure --runtime=docker
+sudo systemctl restart docker
+```
+
+### 1.2 配置 Docker（国内镜像 + NVIDIA runtime）
+
+```bash
+sudo tee /etc/docker/daemon.json << 'EOF'
+{
+    "registry-mirrors": [
+        "https://docker.1ms.run",
+        "https://docker.1panel.live",
+        "https://hub.rat.dev"
+    ],
+    "runtimes": {
+        "nvidia": {
+            "path": "nvidia-container-runtime",
+            "runtimeArgs": []
+        }
+    }
+}
+EOF
+sudo systemctl restart docker
+```
+
+### 1.3 开放防火墙端口
+
+```bash
+sudo ufw allow 47998:48000/udp
+sudo ufw allow 48005/udp
+sudo ufw allow 48008/udp
+sudo ufw allow 48012/udp
+sudo ufw allow 48010/tcp
+sudo ufw allow 49100/tcp
+sudo ufw allow 48322/tcp
+sudo ufw allow 8080/tcp
+```
+
+### 1.4 安装 Node.js 20 LTS（通过 nvm）
+
+```bash
+curl -o- https://raw.githubusercontent.com/nvm-sh/nvm/v0.40.1/install.sh | bash
+source ~/.bashrc
+nvm install 20
+nvm use 20
+```
+
+---
+
+## 二、获取 CloudXR Early Access SDK
+
+CloudXR.js SDK 已包含在本仓库 `deps/cloudxr/` 目录中，无需单独下载。
+
+只需登录 NGC Docker registry 以拉取 CloudXR Runtime 镜像：
+
+```bash
+sudo docker login nvcr.io
+# Username: $oauthtoken
+# Password: <你的 NGC API Key>
+```
+
+> NGC API Key 获取：[ngc.nvidia.com](https://ngc.nvidia.com) → 右上角头像 → Setup → Generate API Key
+>
+> Early Access 申请：[申请地址](https://developer.nvidia.com/cloudxr-sdk) — 申请通过后才能拉取 `cloudxr-runtime-early-access` 镜像。
+
+---
+
+## 三、配置 Isaac Lab Docker
+
+修改 `~/IsaacLab/docker/.env.cloudxr-runtime`：
+
+```ini
+CLOUDXR_RUNTIME_BASE_IMAGE_ARG=nvcr.io/nvidia/cloudxr-runtime-early-access
+CLOUDXR_RUNTIME_VERSION_ARG=6.0.1-webrtc
+ACCEPT_EULA=yes
+```
+
+修改 `~/IsaacLab/docker/docker-compose.cloudxr-runtime.patch.yaml`，将 cloudxr-runtime service 的 `ports` 替换为 `network_mode: host`：
+
+```yaml
+services:
+  cloudxr-runtime:
+    image: ${CLOUDXR_RUNTIME_BASE_IMAGE_ARG}:${CLOUDXR_RUNTIME_VERSION_ARG}
+    network_mode: host
+    # ... 其余保持不变
+```
+
+---
+
+## 四、构建 WSS 代理（HAProxy）
+
+```bash
+cd deps/cloudxr
+
+# 构建镜像
+sudo docker build -t websocket-ssl-proxy -f Dockerfile.wss.proxy .
+
+# 启动代理（监听 48322，转发到 CloudXR Runtime 的 49100）
+sudo docker run -d --name wss-proxy \
+    --network host \
+    -e BACKEND_HOST=localhost \
+    -e BACKEND_PORT=49100 \
+    -e PROXY_PORT=48322 \
+    websocket-ssl-proxy
+
+# 验证
+sudo docker logs wss-proxy
+```
+
+---
+
+## 五、构建 Web 客户端
+
+```bash
+cd deps/cloudxr/isaac
+
+# 安装依赖（需要先安装本地 CloudXR SDK）
+npm install ../nvidia-cloudxr-6.0.0-beta.tgz
+npm install
+
+# 启动 HTTPS 开发服务器（端口 8080）
+npm run dev-server:https
+```
+
+> **注意**：首次运行会下载 WebXR controller profile 资源，需要网络连接。
+
+---
+
+## 六、启动流程
+
+每次使用前按以下顺序启动：
+
+### 6.1 启动 CloudXR Runtime + Isaac Lab
+
+```bash
+cd ~/IsaacLab
+./docker/container.py start \
+    --files docker-compose.cloudxr-runtime.patch.yaml \
+    --env-file .env.cloudxr-runtime
+
+# 进入 Isaac Lab 容器
+./docker/container.py enter base
+```
+
+容器内运行 MindBot 遥操作：
+
+```bash
+~/IsaacLab/isaaclab.sh -p scripts/environments/teleoperation/teleop_xr_agent.py \
+    --task Isaac-MindRobot-2i-DualArm-IK-Abs-v0 \
+    --cloudxr
+```
+
+Isaac Sim 启动后：**AR 面板 → OpenXR → System OpenXR Runtime → 点击 Start AR**
+
+### 6.2 启动 WSS 代理
+
+```bash
+sudo docker start wss-proxy
+```
+
+### 6.3 启动 Web 服务
+
+```bash
+cd deps/cloudxr/isaac
+npm run dev-server:https
+```
+
+---
+
+## 七、PICO 4 Ultra 配置
+
+### 7.1 启用手部追踪
+
+设置 → Interaction → 选择 **Auto Switch between Hands & Controllers**
+
+### 7.2 接受证书
+
+1. 打开 PICO 浏览器，访问 `https://<工作站IP>:48322/`
+   - 点击 **Advanced** → **Proceed (unsafe)**
+   - 看到 "501 Not Implemented" 是正常的
+2. 访问 `https://<工作站IP>:8080/`
+   - 点击 **Advanced** → **Proceed (unsafe)**
+   - Web App 加载成功
+
+### 7.3 连接
+
+1. 在 Web App 中输入工作站 IP
+2. 点击 **CONNECT**
+3. 点击 **Enter XR** 进入沉浸式模式
+
+---
+
+## 八、验证端口状态
+
+```bash
+sudo ss -tlnp | grep -E "49100|48322|8080"
+```
+
+预期输出：
+```
+LISTEN  0.0.0.0:49100   cloudxr-service   # CloudXR Runtime
+LISTEN  0.0.0.0:48322   haproxy           # WSS Proxy
+LISTEN  0.0.0.0:8080    node              # Web App
+```
+
+---
+
+## 常见问题
+
+| 症状 | 原因 | 解决 |
+|---|---|---|
+| 503 Service Unavailable (48322) | CloudXR Runtime 未运行 | 重启 docker-cloudxr-runtime-1 容器 |
+| 501 Not Implemented (48322) | 正常 — HAProxy 只处理 WebSocket | 直接接受证书即可 |
+| Stream start failed 0xC0F22202 | HTTPS + ws:// 混合内容 | 必须先接受 48322 代理证书 |
+| EMFILE: too many open files | webpack 文件监听超限 | 已通过 `watchOptions.ignored` 修复 |
+| Isaac Sim AR 面板看不到 | 未传 --cloudxr 或 --xr flag | 使用 `--cloudxr` 启动脚本 |
--- a/deps/cloudxr/LICENSE
+++ b/deps/cloudxr/LICENSE
@@ -0,0 +1,307 @@
+NVIDIA SOFTWARE EVALUATION LICENSE AGREEMENT
+
+IMPORTANT NOTICE – PLEASE READ AND AGREE BEFORE USING THE SOFTWARE
+
+This software evaluation license agreement (“Agreement”) is a legal agreement between you, whether an
+individual or entity, (“you”) and NVIDIA Corporation and its affiliates (“NVIDIA”) and governs the use of certain
+NVIDIA CloudXR software and documentation that NVIDIA delivers to you under this Agreement (“Software”).
+NVIDIA and you are each a “party” and collectively the “parties.”
+This Agreement can be accepted only by an adult of legal age of majority in the country in which the Software is
+used. If you don’t have the required age or authority to accept this Agreement, or if you don’t accept all the
+terms and conditions of this Agreement, do not use the Software.
+
+1. License Grants.
+
+1.1 License Grant to You. The Software is licensed, not sold. Subject to the terms of this Agreement,
+NVIDIA grants you a limited, non-exclusive, revocable, non-transferable, non-sublicensable (except
+as expressly granted in this Agreement), license to:
+(a) access, install and use copies of the Software,
+(b) configure the Software using configuration files provided (if applicable),
+(c) modify and create derivative works of any source code NVIDIA delivers to you as part of the
+Software (“Derivatives”) (if applicable).
+
+All the foregoing grants are only for internal test and evaluation purposes and, as applicable, for use (a) in
+client systems, or (b) in server systems with NVIDIA GPUs (“Purpose”).
+
+1.2 License Grant to NVIDIA. Subject to the terms of this Agreement, you grant NVIDIA a non-exclusive,
+perpetual, irrevocable, sublicensable, worldwide, royalty-free, fully paid-up and transferable license,
+under your intellectual property rights, to publicly perform, publicly display, reproduce, use, make,
+have made, sell, offer for sale, distribute (through multiple tiers of distribution), import, create
+derivative works of and otherwise commercialize and exploit at NVIDIA’s discretion any Derivatives
+created by or for you. You may, but are not required to, deliver any Derivatives to NVIDIA.
+
+2. License Restrictions. Your license to use the Software and Derivatives is restricted as stated in this “License
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+
+2.2 Sell, rent, sublicense, transfer, distribute or otherwise make available to others (except Authorized
+Users as stated in the “Authorized Users” Section) any portion of the Software or Derivatives, except
+as expressly granted in Section 1.1 (“License Grant to You”);
+
+2.3 Reverse engineer, decompile, or disassemble the Software components provided in binary form, nor
+attempt in any other manner to obtain source code of such Software;
+
+2.4 Modify or create derivative works of the Software, except as expressly granted in Section 1.1
+(“License Grant to You”);
+
+2.5 Change or remove copyright or other proprietary notices in the Software;
+
+2.6 Bypass, disable, or circumvent any technical limitation, encryption, security, digital rights
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+
+2.7 Use the Software or Derivatives in any manner that would cause them to become subject to an open
+source software license; subject to the terms in Section 7 (“Components Under Other Licenses”);
+
+2.8 Use the Software or Derivatives for the purpose of developing competing products or technologies
+or assist a third party in such activities;
+
+2.9 Replace any Software components governed by this Agreement with other software that
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+
+2.10 Use the Software or Derivatives in violation of any applicable law or regulation in the relevant
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+
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+
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+
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+the Protected Items are and must be treated as commercial computer software and commercial
+computer software documentation developed at private expense; (ii) inform the U.S. Government
+that the Protected Items are provided subject to the terms of the Agreement; and (iii) mark the
+Protected Items as commercial computer software and commercial computer software
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+acquire rights in Protected Items beyond those specified in 48 C.F.R. 52.227-19(b)(1)-(2) or 252.227-
+7013(c) except as expressly approved by NVIDIA in writing.
+
+15.7 Notices. Please direct your legal notices or other correspondence to legalnotices@nvidia.com with a
+copy mailed to NVIDIA Corporation, 2788 San Tomas Expressway, Santa Clara, California 95051,
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+Software, you consent to receive the notices by email and agree that such notices will satisfy any
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+
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+whether contained in purchase orders, order acknowledgments, invoices or otherwise, will not be
+binding and are null and void.
+
+(v. February 25, 2025)
+
+NVIDIA Confidential
--- a/deps/cloudxr/README.md
+++ b/deps/cloudxr/README.md
@@ -0,0 +1,71 @@
+# NVIDIA CloudXR.js SDK - Getting Started
+
+> **Note:** For detailed documentation, see the `docs/` folder (open `docs/index.html` in browser).
+
+[The NVIDIA CloudXR.js SDK](#) enables developers to build web clients that stream high-quality spatial content from CloudXR servers with powerful GPUs to web browsers on XR devices. It consists of:
+ - **CloudXR.js SDK** - a JavaScript client library
+ - **WebGL-based simple sample client** that uses core Web APIs (WebGL, WebXR)
+ - **React-based sample client** that uses the R3F (React-Three-Fiber) framework stack
+
+<!-- #region firstRunGuide -->
+
+It is *strongly recommended* that you work through this guide if you have never run CloudXR.js before.
+
+## The Pieces of a CloudXR.js Deployment
+
+Even for development, you'll need all the pieces of a CloudXR.js deployment in order to build and test a client. These are:
+
+- a CloudXR Server
+  - with a _top-end_ NVIDIA GPU or 2 (e.g. dual RTX 6000 Ada)
+  - which will run
+    - the CloudXR Runtime
+    - an OpenXR application (the thing you want to render on the server but see on the client)
+- a CloudXR.js development workstation
+  - with Node.js and `npm`
+  - which will run
+    - the CloudXR.js sample client build
+    - a Node-based development web server
+- a CloudXR.js client
+  - which is one of:
+    - a Meta Quest 3 with its built-in Browser app
+    - a desktop browser: [Google Chrome](https://www.google.com/chrome) or Edge (IWER automatically loads for WebXR emulation)
+  - which will run...
+    - the CloudXR.js sample client *served from the development web server*.
+
+We *recommend* that for your first experience, all above run on *the same computer* to eliminate networking related issues.
+
+## High Level Workflow
+
+You need both a working client and a working server in order to test. Typically we follow a startup flow where server starts before the client:
+
+1. CloudXR Runtime
+2. Server XR application
+3. Sample client build + web server
+4. Test from the same computer
+5. Test from Quest 3 or a different computer
+
+<!-- #endregion firstRunGuide -->
+
+Please refer to [the CloudXR.js SDK documentations](#sdk-documentation) for details.
+
+## SDK Documentation
+
+The `docs/` folder contains comprehensive documentation including:
+- Getting Started guides with example server applications
+- API reference for building custom clients
+- Common issues and solutions
+
+Open `docs/index.html` in your browser for organized navigation with table of contents.
+
+## Support
+
+For technical support and questions about this early access release:
+- Review the troubleshooting sections in the SDK documentation
+- Study the example implementations for integration patterns
+- Contact the NVIDIA CloudXR team for additional assistance
+
+## License
+
+> **Important**: This is an [evaluation license](LICENSE) for internal test and evaluation purposes only. For commercial use, please contact NVIDIA for appropriate licensing terms.
+
+> **Note**: This is an early access release of CloudXR.js. Features and APIs may change in future releases.
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+<!DOCTYPE html><html class="default" lang="en" data-base=".."><head><meta charset="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>Client Setup | CloudXR.js SDK Documentation - v6.0.0-beta</title><meta name="description" content="Documentation for CloudXR.js SDK Documentation"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script defer src="../assets/main.js"></script><script async src="../assets/icons.js" id="tsd-icons-script"></script><script async src="../assets/search.js" id="tsd-search-script"></script><script async src="../assets/navigation.js" id="tsd-nav-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os";document.body.style.display="none";setTimeout(() => app?app.showPage():document.body.style.removeProperty("display"),500)</script><header class="tsd-page-toolbar"><div class="tsd-toolbar-contents container"><div class="table-cell" id="tsd-search"><div class="field"><label for="tsd-search-field" class="tsd-widget tsd-toolbar-icon search no-caption"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-search"></use></svg></label><input type="text" id="tsd-search-field" aria-label="Search"/></div><div class="field"><div id="tsd-toolbar-links"></div></div><ul class="results"><li class="state loading">Preparing search index...</li><li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">CloudXR.js SDK Documentation - v6.0.0-beta</a></div><div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-menu"></use></svg></a></div></div></header><div class="container container-main"><div class="col-content"><div class="tsd-page-title"><ul class="tsd-breadcrumb"><li><a href="../modules.html">CloudXR.js SDK Documentation</a></li><li><a href="Client_Setup.html">Client Setup</a></li></ul></div><div class="tsd-panel tsd-typography"><a id="client-setup-guide" class="tsd-anchor"></a><h1 class="tsd-anchor-link">Client Setup Guide<a href="#client-setup-guide" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h1><p>This guide provides configuration examples for CloudXR.js client devices, including browser setup, web server hosting options, and connection modes. These examples demonstrate common deployment scenarios you may encounter.</p>
+<a id="web-application-hosting" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Web Application Hosting<a href="#web-application-hosting" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>CloudXR.js client applications can be hosted using either HTTP or HTTPS protocols. We provide examples for both modes to help you choose the right approach for your deployment.</p>
+<a id="http-mode-development" class="tsd-anchor"></a><h3 class="tsd-anchor-link">HTTP Mode (Development)<a href="#http-mode-development" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>This example demonstrates the simplest configuration for local development and testing.</p>
+<p><strong>Example command:</strong></p>
+<pre><code class="bash"><span class="hl-0">npm</span><span class="hl-1"> </span><span class="hl-2">run</span><span class="hl-1"> </span><span class="hl-2">dev-server</span>
+</code><button type="button">Copy</button></pre>
+
+<p><strong>Access URLs:</strong></p>
+<ul>
+<li>Local: <code>http://localhost:8080/</code></li>
+<li>Network: <code>http://&lt;server-ip&gt;:8080/</code></li>
+</ul>
+<p><strong>Characteristics:</strong></p>
+<ul>
+<li>Simplified setup with minimal configuration</li>
+<li>Supports connections to both <code>ws://</code> (direct) and <code>wss://</code> (proxied) CloudXR Runtime endpoints</li>
+<li>Requires browser security flags for WebXR functionality (see <a href="#meta-quest-3-browser-configuration">Browser Configuration</a>)</li>
+<li>Recommended for: Local development, trusted network environments</li>
+</ul>
+<a id="https-mode-development-and-production" class="tsd-anchor"></a><h3 class="tsd-anchor-link">HTTPS Mode (Development and Production)<a href="#https-mode-development-and-production" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>This example demonstrates HTTPS hosting, which is used for both development with WebXR devices and production deployments. It provides encrypted client connections and is required for secure WebSocket connections.</p>
+<p><strong>Example command:</strong></p>
+<pre><code class="bash"><span class="hl-0">npm</span><span class="hl-1"> </span><span class="hl-2">run</span><span class="hl-1"> </span><span class="hl-2">dev-server:https</span>
+</code><button type="button">Copy</button></pre>
+
+<p><strong>Access URLs:</strong></p>
+<ul>
+<li>Local: <code>https://localhost:8080/</code></li>
+<li>Network: <code>https://&lt;server-ip&gt;:8080/</code></li>
+</ul>
+<p><strong>Characteristics:</strong></p>
+<ul>
+<li>Automatically generates self-signed SSL certificates (for development) or custom certificates (for production)</li>
+<li><strong>Requires</strong> <code>wss://</code> (secure WebSocket) connection to CloudXR Runtime</li>
+<li>Browsers enforce mixed content policy, blocking <code>ws://</code> connections from HTTPS pages</li>
+<li>Requires certificate trust configuration in client browser</li>
+<li>Recommended for: WebXR device testing, production deployments, remote access, security-sensitive environments</li>
+</ul>
+<a id="connection-mode-examples" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Connection Mode Examples<a href="#connection-mode-examples" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>The following table shows example connection configurations between the web application server and CloudXR Runtime:</p>
+<table>
+<thead>
+<tr>
+<th>Client Web Server</th>
+<th>Runtime Connection</th>
+<th>Status</th>
+<th>Use Case</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td>HTTP</td>
+<td><code>ws://server-ip:49100</code></td>
+<td>✅ Supported</td>
+<td>Local development (simplest path)</td>
+</tr>
+<tr>
+<td>HTTP</td>
+<td><code>wss://proxy-ip:48322</code></td>
+<td>✅ Supported</td>
+<td>Testing proxy configuration</td>
+</tr>
+<tr>
+<td>HTTPS</td>
+<td><code>ws://server-ip:49100</code></td>
+<td>❌ Blocked</td>
+<td>Mixed content security policy violation</td>
+</tr>
+<tr>
+<td>HTTPS</td>
+<td><code>wss://proxy-ip:48322</code></td>
+<td>✅ Supported</td>
+<td>WebXR device testing, production deployment</td>
+</tr>
+</tbody>
+</table>
+<blockquote>
+<p><strong>Important</strong>: When using HTTPS mode for your web application, you must configure a WebSocket proxy with TLS support. See the <a href="Networking_Setup.html#websocket-proxy-setup">Networking Setup Guide - WebSocket Proxy Setup</a> for configuration details.</p>
+</blockquote>
+<a id="meta-quest-3-browser-configuration" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Meta Quest 3 Browser Configuration<a href="#meta-quest-3-browser-configuration" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>This section provides configurations for Meta Quest 3 to enable WebXR functionality with CloudXR.js applications.</p>
+<a id="configure-insecure-origins-http-mode" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Configure Insecure Origins (HTTP Mode)<a href="#configure-insecure-origins-http-mode" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>When using HTTP mode, the Meta Quest 3 browser needs explicit permission to access WebXR APIs from non-HTTPS origins. Here's how to configure it:</p>
+<ol>
+<li>
+<p><strong>Access Chrome flags:</strong></p>
+<ul>
+<li>Open the Meta Quest 3 Browser</li>
+<li>Navigate to <code>chrome://flags</code></li>
+</ul>
+</li>
+<li>
+<p><strong>Enable insecure origins:</strong></p>
+<ul>
+<li>Search for &quot;insecure&quot; in the search field</li>
+<li>Locate the flag: <code>unsafely-treat-insecure-origin-as-secure</code></li>
+<li>Set the flag to <strong>Enabled</strong></li>
+</ul>
+</li>
+<li>
+<p><strong>Add your development server:</strong></p>
+<ul>
+<li>In the text field below the flag, enter your web server URL</li>
+<li><strong>Format</strong>: <code>http://&lt;server-ip&gt;:8080</code></li>
+<li>Include the protocol (<code>http://</code>) and port number (<code>:8080</code>)</li>
+<li>Multiple URLs can be separated by commas if needed</li>
+</ul>
+</li>
+<li>
+<p><strong>Apply configuration:</strong></p>
+<ul>
+<li>Click or tap outside the text field to defocus</li>
+<li>A &quot;Relaunch&quot; button will appear at the bottom of the screen</li>
+<li>Click <strong>Relaunch</strong> to apply changes</li>
+</ul>
+</li>
+<li>
+<p><strong>Verify configuration:</strong></p>
+<ul>
+<li>Return to <code>chrome://flags</code> after relaunch</li>
+<li>Confirm the flag remains enabled and your URL is saved</li>
+</ul>
+</li>
+</ol>
+<a id="trust-ssl-certificates-https-mode" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Trust SSL Certificates (HTTPS Mode)<a href="#trust-ssl-certificates-https-mode" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>When using HTTPS mode with self-signed certificates (for the web server and the WebSocket proxy), you need to configure the browser to trust these certificates.</p>
+<blockquote>
+<p><strong>Note</strong>: Certificate trust settings persist across browser sessions. You only need to perform this configuration once per certificate.</p>
+</blockquote>
+<a id="trust-websocket-proxy-certificate" class="tsd-anchor"></a><h4 class="tsd-anchor-link">Trust WebSocket Proxy Certificate<a href="#trust-websocket-proxy-certificate" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><ol>
+<li>
+<p><strong>Access the proxy endpoint:</strong></p>
+<ul>
+<li>
+<p>In Meta Quest 3 Browser in the sample client page, fill in the proxy IP as server IP and corresponding port, and click &quot;click xxx to accept cert&quot; as shown below. Or you can directly navigate to <code>https://&lt;proxy-ip&gt;:48322/</code></p>
+<p><img src="../media/accept-proxy-cert.png" alt=""></p>
+</li>
+</ul>
+</li>
+<li>
+<p><strong>Accept certificate warning:</strong></p>
+<ul>
+<li>
+<p>Click <strong>Advanced</strong></p>
+</li>
+<li>
+<p>Click <strong>Proceed to <code>&lt;proxy-ip&gt;</code> (unsafe)</strong> or similar option</p>
+<p><img src="../media/accept-cert.png" alt=""></p>
+</li>
+</ul>
+</li>
+<li>
+<p><strong>Expected behavior:</strong></p>
+<ul>
+<li>The page may display a <code>501 Not Implemented</code> error</li>
+<li><strong>This is expected</strong> - the proxy only handles WebSocket connections, not HTTP requests</li>
+<li>The certificate is now trusted for WebSocket connections</li>
+</ul>
+</li>
+</ol>
+<blockquote>
+<p><strong>Note</strong>: If you restart or recreate the proxy container (using the Docker HAProxy example with auto-generated certificates), a new self-signed certificate will be generated. You must repeat the certificate trust process by visiting <code>https://&lt;proxy-ip&gt;:48322/</code> again and accepting the new certificate warning. If you mount your own certificate (see <a href="Networking_Setup.html#using-custom-certificates">Networking Setup - Using Custom Certificates</a>), the same certificate persists across restarts and you only need to trust it once.</p>
+</blockquote>
+<a id="trust-web-application-certificate" class="tsd-anchor"></a><h4 class="tsd-anchor-link">Trust Web Application Certificate<a href="#trust-web-application-certificate" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><ol>
+<li>
+<p><strong>Access the web application:</strong></p>
+<ul>
+<li>Open Meta Quest 3 Browser</li>
+<li>Navigate to <code>https://&lt;server-ip&gt;:8080/</code></li>
+</ul>
+</li>
+<li>
+<p><strong>Accept certificate warning:</strong></p>
+<ul>
+<li>
+<p>Click <strong>Advanced</strong></p>
+</li>
+<li>
+<p>Click <strong>Proceed to <code>&lt;server-ip&gt;</code> (unsafe)</strong> or similar option</p>
+<p><img src="../media/accept-cert.png" alt=""></p>
+</li>
+</ul>
+</li>
+<li>
+<p><strong>Verify access:</strong></p>
+<ul>
+<li>The web application should load successfully</li>
+</ul>
+</li>
+</ol>
+<a id="verify-webxr-permissions" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Verify WebXR Permissions<a href="#verify-webxr-permissions" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>When connecting to a CloudXR.js application:</p>
+<ol>
+<li>The browser will prompt for WebXR permissions</li>
+<li>Select <strong>Allow</strong> when prompted</li>
+<li>The immersive session will begin after permission is granted</li>
+</ol>
+<blockquote>
+<p><strong>Tip</strong>: For rapid development and debugging, you can test your CloudXR.js application on a desktop browser before deploying to Meta Quest 3. Detailed setup instructions are provided in the <a href="Show_Cases.Isaac_Lab_Teleop.Teleoperating_on_Meta_Quest_3.html">Isaac Lab Client</a> guide.</p>
+</blockquote>
+<a id="network-configuration" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Network Configuration<a href="#network-configuration" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>For network and firewall configuration requirements, including port setup and bandwidth recommendations, see the <a href="Networking_Setup.html">Networking Setup Guide</a>.</p>
+<a id="common-issues-and-solutions" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Common Issues and Solutions<a href="#common-issues-and-solutions" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><a id="webxr-api-not-available" class="tsd-anchor"></a><h3 class="tsd-anchor-link">WebXR API Not Available<a href="#webxr-api-not-available" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p><strong>Symptoms:</strong></p>
+<ul>
+<li>Application displays &quot;WebXR not supported&quot; or similar error</li>
+<li>Connect button is disabled or missing</li>
+</ul>
+<p><strong>Solutions:</strong></p>
+<ul>
+<li>Verify browser flags are configured correctly (<a href="#configure-insecure-origins-http-mode">HTTP mode example</a>)</li>
+<li>Ensure you're accessing via the configured URL exactly as specified</li>
+<li>Confirm the browser has been relaunched after changing flags</li>
+<li>Try accessing via incognito/private browsing mode</li>
+</ul>
+<a id="certificate-trust-issues" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Certificate Trust Issues<a href="#certificate-trust-issues" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p><strong>Symptoms:</strong></p>
+<ul>
+<li>Connection fails with security warnings</li>
+<li>WebSocket connection shows &quot;SSL certificate error&quot;</li>
+</ul>
+<p><strong>Solutions:</strong></p>
+<ul>
+<li>Complete the certificate trust process for both web server and proxy</li>
+<li>Verify you clicked &quot;Proceed&quot; on the certificate warning pages</li>
+<li>Clear browser cache and retry the trust process</li>
+<li>For persistent issues, regenerate certificates</li>
+</ul>
+<a id="mixed-content-errors" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Mixed Content Errors<a href="#mixed-content-errors" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p><strong>Symptoms:</strong></p>
+<ul>
+<li>Console shows &quot;blocked by mixed content policy&quot; errors</li>
+<li>WebSocket connection fails from HTTPS page</li>
+</ul>
+<p><strong>Solutions:</strong></p>
+<ul>
+<li>When using <code>npm run dev-server:https</code>, ensure runtime connection uses <code>wss://</code> not <code>ws://</code></li>
+<li>Verify a WebSocket proxy is configured and running (see <a href="Networking_Setup.html#websocket-proxy-setup">Networking Setup examples</a>)</li>
+<li>Check that proxy URL is accessible and trusted</li>
+</ul>
+<a id="connection-drops-or-instability" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Connection Drops or Instability<a href="#connection-drops-or-instability" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p><strong>Symptoms:</strong></p>
+<ul>
+<li>Frequent disconnections during streaming</li>
+<li>Poor video quality or high latency</li>
+</ul>
+<p><strong>Solutions:</strong></p>
+<ul>
+<li>Review <a href="Networking_Setup.html">Networking Setup Guide</a> for bandwidth and latency requirements</li>
+<li>Verify firewall allows traffic on required ports</li>
+<li>Ensure Wi-Fi connection is on 5GHz or 6GHz band</li>
+<li>Check for network congestion from other devices</li>
+</ul>
+<a id="next-steps" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Next Steps<a href="#next-steps" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><ul>
+<li>Configure networking and firewall: <a href="Networking_Setup.html">Networking Setup Guide</a></li>
+<li>Set up Isaac Lab teleoperation: <a href="Show_Cases.Isaac_Lab_Teleop.html">Isaac Lab Guide</a></li>
+</ul>
+</div></div><div class="col-sidebar"><div class="page-menu"><div class="tsd-navigation settings"><details class="tsd-accordion"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>Settings</h3></summary><div class="tsd-accordion-details"><div class="tsd-filter-visibility"><span class="settings-label">Member Visibility</span><ul id="tsd-filter-options"><li class="tsd-filter-item"><label class="tsd-filter-input"><input type="checkbox" id="tsd-filter-inherited" name="inherited" checked/><svg width="32" height="32" viewBox="0 0 32 32" aria-hidden="true"><rect class="tsd-checkbox-background" width="30" height="30" x="1" y="1" rx="6" fill="none"></rect><path class="tsd-checkbox-checkmark" d="M8.35422 16.8214L13.2143 21.75L24.6458 10.25" stroke="none" stroke-width="3.5" stroke-linejoin="round" fill="none"></path></svg><span>Inherited</span></label></li></ul></div><div class="tsd-theme-toggle"><label class="settings-label" for="tsd-theme">Theme</label><select id="tsd-theme"><option value="os">OS</option><option value="light">Light</option><option value="dark">Dark</option></select></div></div></details></div><details open class="tsd-accordion tsd-page-navigation"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>On This Page</h3></summary><div class="tsd-accordion-details"><a href="#client-setup-guide"><span>Client <wbr/>Setup <wbr/>Guide</span></a><ul><li><a href="#web-application-hosting"><span>Web <wbr/>Application <wbr/>Hosting</span></a></li><li><ul><li><a href="#http-mode-development"><span>HTTP <wbr/>Mode (<wbr/>Development)</span></a></li><li><a href="#https-mode-development-and-production"><span>HTTPS <wbr/>Mode (<wbr/>Development and <wbr/>Production)</span></a></li></ul></li><li><a href="#connection-mode-examples"><span>Connection <wbr/>Mode <wbr/>Examples</span></a></li><li><a href="#meta-quest-3-browser-configuration"><span>Meta <wbr/>Quest 3 <wbr/>Browser <wbr/>Configuration</span></a></li><li><ul><li><a href="#configure-insecure-origins-http-mode"><span>Configure <wbr/>Insecure <wbr/>Origins (HTTP <wbr/>Mode)</span></a></li><li><a href="#trust-ssl-certificates-https-mode"><span>Trust SSL <wbr/>Certificates (HTTPS <wbr/>Mode)</span></a></li><li><ul><li><a href="#trust-websocket-proxy-certificate"><span>Trust <wbr/>Web<wbr/>Socket <wbr/>Proxy <wbr/>Certificate</span></a></li><li><a href="#trust-web-application-certificate"><span>Trust <wbr/>Web <wbr/>Application <wbr/>Certificate</span></a></li></ul></li><li><a href="#verify-webxr-permissions"><span>Verify <wbr/>WebXR <wbr/>Permissions</span></a></li></ul></li><li><a href="#network-configuration"><span>Network <wbr/>Configuration</span></a></li><li><a href="#common-issues-and-solutions"><span>Common <wbr/>Issues and <wbr/>Solutions</span></a></li><li><ul><li><a href="#webxr-api-not-available"><span>WebXR API <wbr/>Not <wbr/>Available</span></a></li><li><a href="#certificate-trust-issues"><span>Certificate <wbr/>Trust <wbr/>Issues</span></a></li><li><a href="#mixed-content-errors"><span>Mixed <wbr/>Content <wbr/>Errors</span></a></li><li><a href="#connection-drops-or-instability"><span>Connection <wbr/>Drops or <wbr/>Instability</span></a></li></ul></li><li><a href="#next-steps"><span>Next <wbr/>Steps</span></a></li></ul></div></details></div><div class="site-menu"><nav class="tsd-navigation"><a href="../modules.html">CloudXR.js SDK Documentation - v6.0.0-beta</a><ul class="tsd-small-nested-navigation" id="tsd-nav-container"><li>Loading...</li></ul></nav></div></div></div><footer><p class="tsd-generator">Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></footer><div class="overlay"></div></body></html>
--- a/deps/cloudxr/docs/documents/Getting_Started.Sample_Client_-_React.html
+++ b/deps/cloudxr/docs/documents/Getting_Started.Sample_Client_-_React.html
@@ -0,0 +1,150 @@
+<!DOCTYPE html><html class="default" lang="en" data-base=".."><head><meta charset="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>Sample Client - React | CloudXR.js SDK Documentation - v6.0.0-beta</title><meta name="description" content="Documentation for CloudXR.js SDK Documentation"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script defer src="../assets/main.js"></script><script async src="../assets/icons.js" id="tsd-icons-script"></script><script async src="../assets/search.js" id="tsd-search-script"></script><script async src="../assets/navigation.js" id="tsd-nav-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os";document.body.style.display="none";setTimeout(() => app?app.showPage():document.body.style.removeProperty("display"),500)</script><header class="tsd-page-toolbar"><div class="tsd-toolbar-contents container"><div class="table-cell" id="tsd-search"><div class="field"><label for="tsd-search-field" class="tsd-widget tsd-toolbar-icon search no-caption"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-search"></use></svg></label><input type="text" id="tsd-search-field" aria-label="Search"/></div><div class="field"><div id="tsd-toolbar-links"></div></div><ul class="results"><li class="state loading">Preparing search index...</li><li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">CloudXR.js SDK Documentation - v6.0.0-beta</a></div><div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-menu"></use></svg></a></div></div></header><div class="container container-main"><div class="col-content"><div class="tsd-page-title"><ul class="tsd-breadcrumb"><li><a href="../modules.html">CloudXR.js SDK Documentation</a></li><li><a href="Getting_Started.html">Getting Started</a></li><li><a href="Getting_Started.Sample_Client_-_React.html">Sample Client - React</a></li></ul></div><div class="tsd-panel tsd-typography"><a id="react-three-fiber-example" class="tsd-anchor"></a><h1 class="tsd-anchor-link">React Three Fiber Example<a href="#react-three-fiber-example" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h1><p>This is a comprehensive CloudXR.js React Three Fiber example application that demonstrates how to integrate CloudXR streaming with modern React development patterns. This example showcases the power of combining CloudXR.js with React Three Fiber, React Three XR, and React Three UIKit to create immersive XR experiences with rich 3D user interfaces.</p>
+<blockquote>
+<p>NOTE: This example is not meant to be used for production.</p>
+</blockquote>
+<a id="overview" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Overview<a href="#overview" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>This example showcases the integration of CloudXR.js with the React Three Fiber ecosystem, providing:</p>
+<ul>
+<li><strong>React Three Fiber Integration</strong>: Seamless integration with Three.js through React components</li>
+<li><strong>React Three XR</strong>: WebXR session management with React hooks and state management</li>
+<li><strong>React Three UIKit</strong>: Rich 3D user interface components for VR/AR experiences</li>
+<li><strong>CloudXR Streaming</strong>: Real-time streaming of XR content from a CloudXR server</li>
+<li><strong>Modern React Patterns</strong>: Hooks, context, and component-based architecture</li>
+<li><strong>Dual UI System</strong>: 2D HTML interface for configuration and 3D VR interface for interaction</li>
+</ul>
+<a id="quick-start" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Quick Start<a href="#quick-start" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><a id="prerequisites" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Prerequisites<a href="#prerequisites" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><ul>
+<li>Node.js (v20 or higher)</li>
+<li>A CloudXR server running and accessible</li>
+<li>A WebXR-compatible device (VR headset, AR device)</li>
+</ul>
+<a id="installation" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Installation<a href="#installation" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><ol>
+<li>
+<p><strong>Navigate to the example folder</strong></p>
+<pre><code class="bash"><span class="hl-0">cd</span><span class="hl-1"> </span><span class="hl-2">react</span>
+</code><button type="button">Copy</button></pre>
+
+</li>
+<li>
+<p><strong>Install Dependencies</strong></p>
+<pre><code class="bash"><span class="hl-3"># For this early access release, please run the following to install SDK from the given tarball. This step will not be needed when SDK is publicly accessible.</span><br/><span class="hl-0">npm</span><span class="hl-1"> </span><span class="hl-2">install</span><span class="hl-1"> </span><span class="hl-2">../nvidia-cloudxr-6.0.0-beta.tgz</span><br/><br/><span class="hl-0">npm</span><span class="hl-1"> </span><span class="hl-2">install</span>
+</code><button type="button">Copy</button></pre>
+
+</li>
+<li>
+<p><strong>Build the Application</strong></p>
+<pre><code class="bash"><span class="hl-0">npm</span><span class="hl-1"> </span><span class="hl-2">run</span><span class="hl-1"> </span><span class="hl-2">build</span>
+</code><button type="button">Copy</button></pre>
+
+</li>
+<li>
+<p><strong>Start Development Server</strong></p>
+<pre><code class="bash"><span class="hl-0">npm</span><span class="hl-1"> </span><span class="hl-2">run</span><span class="hl-1"> </span><span class="hl-2">dev-server</span>
+</code><button type="button">Copy</button></pre>
+
+</li>
+<li>
+<p><strong>Open in Browser</strong></p>
+<ul>
+<li>Navigate to <code>http://localhost:8080</code> (or the port shown in terminal)</li>
+<li>For desktop browsers, IWER (Immersive Web Emulator Runtime) will automatically load to emulate a Meta Quest 3 headset</li>
+</ul>
+</li>
+</ol>
+<a id="basic-usage" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Basic Usage<a href="#basic-usage" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><ol>
+<li>
+<p><strong>Configure Connection</strong></p>
+<ul>
+<li>Enter your CloudXR server IP address</li>
+<li>Set the port (default: 49100)</li>
+<li>Select AR or VR immersive mode</li>
+</ul>
+</li>
+<li>
+<p><strong>Adjust Settings</strong> (Optional)</p>
+<ul>
+<li>Configure per-eye resolution (perEyeWidth and perEyeHeight, must be multiples of 16)</li>
+<li>Set target frame rate and bitrate</li>
+<li>Adjust XR reference space</li>
+</ul>
+</li>
+<li>
+<p><strong>Start Streaming</strong></p>
+<ul>
+<li>Click &quot;CONNECT&quot; to initiate the XR session</li>
+<li>Grant XR permissions when prompted</li>
+</ul>
+</li>
+</ol>
+<blockquote>
+<p>NOTE: In order to connect to an actual server and start streaming, you need:</p>
+<ul>
+<li>A CloudXR server running and accessible</li>
+<li>A WebXR-compatible device (VR/AR headset) or desktop browser (IWER loads automatically for emulation)</li>
+</ul>
+</blockquote>
+<a id="technical-architecture" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Technical Architecture<a href="#technical-architecture" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><a id="core-components" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Core Components<a href="#core-components" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><a id="apptsx" class="tsd-anchor"></a><h4 class="tsd-anchor-link"><code>App.tsx</code><a href="#apptsx" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><p>Main React application component managing:</p>
+<ul>
+<li>XR store configuration and session state</li>
+<li>CloudXR component integration</li>
+<li>2D UI management and event handling</li>
+<li>Error handling and capability checking</li>
+<li>React Three Fiber Canvas setup</li>
+</ul>
+<a id="cloudxrcomponenttsx" class="tsd-anchor"></a><h4 class="tsd-anchor-link"><code>CloudXRComponent.tsx</code><a href="#cloudxrcomponenttsx" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><p>Handles the core CloudXR streaming functionality:</p>
+<ul>
+<li>CloudXR session lifecycle management</li>
+<li>WebXR session event handling</li>
+<li>WebGL state management and render target preservation</li>
+<li>Frame-by-frame rendering loop with pose tracking</li>
+<li>Integration with Three.js WebXRManager</li>
+</ul>
+<a id="cloudxr2duitsx" class="tsd-anchor"></a><h4 class="tsd-anchor-link"><code>CloudXR2DUI.tsx</code><a href="#cloudxr2duitsx" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><p>Manages the 2D HTML interface:</p>
+<ul>
+<li>Form field management and localStorage persistence</li>
+<li>Proxy configuration based on protocol</li>
+<li>Event listener management and cleanup</li>
+<li>Error handling and user feedback</li>
+<li>Configuration validation and updates</li>
+</ul>
+<a id="cloudxruitsx-3d-ui" class="tsd-anchor"></a><h4 class="tsd-anchor-link"><code>CloudXRUI.tsx</code> (3D UI)<a href="#cloudxruitsx-3d-ui" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><p>Renders the in-VR user interface:</p>
+<ul>
+<li>React Three UIKit components for 3D UI</li>
+<li>Interactive control buttons with hover effects</li>
+<li>Server information and status display</li>
+<li>Event handler integration</li>
+</ul>
+<a id="development" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Development<a href="#development" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><a id="project-structure" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Project Structure<a href="#project-structure" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><pre><code class="bash"><span class="hl-0">react/</span><br/><span class="hl-0">├──</span><span class="hl-1"> </span><span class="hl-2">src/</span><br/><span class="hl-0">│</span><span class="hl-1">   </span><span class="hl-2">├──</span><span class="hl-1"> </span><span class="hl-2">App.tsx</span><span class="hl-1">              </span><span class="hl-3"># Main React application</span><br/><span class="hl-0">│</span><span class="hl-1">   </span><span class="hl-2">├──</span><span class="hl-1"> </span><span class="hl-2">CloudXRComponent.tsx</span><span class="hl-1"> </span><span class="hl-3"># CloudXR streaming component</span><br/><span class="hl-0">│</span><span class="hl-1">   </span><span class="hl-2">├──</span><span class="hl-1"> </span><span class="hl-2">CloudXR2DUI.tsx</span><span class="hl-1">      </span><span class="hl-3"># 2D UI management class</span><br/><span class="hl-0">│</span><span class="hl-1">   </span><span class="hl-2">├──</span><span class="hl-1"> </span><span class="hl-2">CloudXRUI.tsx</span><span class="hl-1">        </span><span class="hl-3"># 3D VR UI component</span><br/><span class="hl-0">│</span><span class="hl-1">   </span><span class="hl-2">├──</span><span class="hl-1"> </span><span class="hl-2">index.tsx</span><span class="hl-1">            </span><span class="hl-3"># React app entry point</span><br/><span class="hl-0">│</span><span class="hl-1">   </span><span class="hl-2">└──</span><span class="hl-1"> </span><span class="hl-2">index.html</span><span class="hl-1">           </span><span class="hl-3"># HTML template</span><br/><span class="hl-0">├──</span><span class="hl-1"> </span><span class="hl-2">public/</span><br/><span class="hl-0">│</span><span class="hl-1">   </span><span class="hl-2">├──</span><span class="hl-1"> </span><span class="hl-2">play-circle.svg</span><span class="hl-1">                   </span><span class="hl-3"># Play button icon (Heroicons)</span><br/><span class="hl-0">│</span><span class="hl-1">   </span><span class="hl-2">├──</span><span class="hl-1"> </span><span class="hl-2">stop-circle.svg</span><span class="hl-1">                   </span><span class="hl-3"># Stop button icon (Heroicons)</span><br/><span class="hl-0">│</span><span class="hl-1">   </span><span class="hl-2">├──</span><span class="hl-1"> </span><span class="hl-2">arrow-uturn-left.svg</span><span class="hl-1">              </span><span class="hl-3"># Reset button icon (Heroicons)</span><br/><span class="hl-0">│</span><span class="hl-1">   </span><span class="hl-2">└──</span><span class="hl-1"> </span><span class="hl-2">arrow-left-start-on-rectangle.svg</span><span class="hl-1"> </span><span class="hl-3"># Disconnect button icon (Heroicons)</span><br/><span class="hl-0">├──</span><span class="hl-1"> </span><span class="hl-2">package.json</span><span class="hl-1">             </span><span class="hl-3"># Dependencies and scripts</span><br/><span class="hl-0">├──</span><span class="hl-1"> </span><span class="hl-2">webpack.common.js</span><span class="hl-1">        </span><span class="hl-3"># Webpack configuration</span><br/><span class="hl-0">├──</span><span class="hl-1"> </span><span class="hl-2">webpack.dev.js</span><span class="hl-1">           </span><span class="hl-3"># Development webpack config</span><br/><span class="hl-0">├──</span><span class="hl-1"> </span><span class="hl-2">webpack.prod.js</span><span class="hl-1">          </span><span class="hl-3"># Production webpack config</span><br/><span class="hl-0">└──</span><span class="hl-1"> </span><span class="hl-2">tsconfig.json</span><span class="hl-1">            </span><span class="hl-3"># TypeScript configuration</span>
+</code><button type="button">Copy</button></pre>
+
+<a id="react-three-fiber-integration" class="tsd-anchor"></a><h2 class="tsd-anchor-link">React Three Fiber Integration<a href="#react-three-fiber-integration" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><a id="xr-store-configuration" class="tsd-anchor"></a><h3 class="tsd-anchor-link">XR Store Configuration<a href="#xr-store-configuration" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>The application uses React Three XR's store for XR session management:</p>
+<pre><code class="javascript"><span class="hl-6">const</span><span class="hl-1"> </span><span class="hl-5">store</span><span class="hl-1"> = </span><span class="hl-0">createXRStore</span><span class="hl-1">({</span><br/><span class="hl-1">  </span><span class="hl-4">foveation:</span><span class="hl-1"> </span><span class="hl-7">0</span><span class="hl-1">,</span><br/><span class="hl-1">  </span><span class="hl-4">emulate:</span><span class="hl-1"> { </span><span class="hl-4">syntheticEnvironment:</span><span class="hl-1"> </span><span class="hl-6">false</span><span class="hl-1"> },</span><br/><span class="hl-1">});</span>
+</code><button type="button">Copy</button></pre>
+
+<a id="canvas-setup" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Canvas Setup<a href="#canvas-setup" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>React Three Fiber Canvas with WebXR integration:</p>
+<pre><code class="typescript"><span class="hl-1">&lt;</span><span class="hl-4">Canvas</span><span class="hl-1"> </span><span class="hl-4">events</span><span class="hl-1">={</span><span class="hl-4">noEvents</span><span class="hl-1">} </span><span class="hl-4">gl</span><span class="hl-1">={{ </span><span class="hl-8">preserveDrawingBuffer</span><span class="hl-1">: </span><span class="hl-6">true</span><span class="hl-1"> }}&gt;</span><br/><span class="hl-1">  &lt;</span><span class="hl-5">XR</span><span class="hl-1"> </span><span class="hl-4">store</span><span class="hl-1">={</span><span class="hl-4">store</span><span class="hl-1">}&gt;</span><br/><span class="hl-1">    &lt;</span><span class="hl-4">CloudXRComponent</span><span class="hl-1"> </span><span class="hl-4">config</span><span class="hl-1">={</span><span class="hl-4">config</span><span class="hl-1">} /&gt;</span><br/><span class="hl-1">    &lt;</span><span class="hl-4">CloudXR3DUI</span><span class="hl-1"> </span><span class="hl-4">onAction1</span><span class="hl-1">={</span><span class="hl-4">handleAction1</span><span class="hl-1">} /&gt;</span><br/><span class="hl-1">  &lt;/</span><span class="hl-5">XR</span><span class="hl-1">&gt;</span><br/><span class="hl-1">&lt;/</span><span class="hl-4">Canvas</span><span class="hl-1">&gt;</span>
+</code><button type="button">Copy</button></pre>
+
+<a id="custom-render-loop" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Custom Render Loop<a href="#custom-render-loop" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>The CloudXR component uses <code>useFrame</code> for custom rendering:</p>
+<pre><code class="typescript"><span class="hl-0">useFrame</span><span class="hl-1">((</span><span class="hl-4">state</span><span class="hl-1">, </span><span class="hl-4">delta</span><span class="hl-1">) </span><span class="hl-6">=&gt;</span><span class="hl-1"> {</span><br/><span class="hl-1">  </span><span class="hl-9">if</span><span class="hl-1"> (</span><span class="hl-4">webXRManager</span><span class="hl-1">.</span><span class="hl-4">isPresenting</span><span class="hl-1"> &amp;&amp; </span><span class="hl-4">session</span><span class="hl-1">) {</span><br/><span class="hl-1">    </span><span class="hl-3">// CloudXR rendering logic</span><br/><span class="hl-1">    </span><span class="hl-4">cxrSession</span><span class="hl-1">.</span><span class="hl-0">sendTrackingStateToServer</span><span class="hl-1">(</span><span class="hl-4">timestamp</span><span class="hl-1">, </span><span class="hl-4">xrFrame</span><span class="hl-1">);</span><br/><span class="hl-1">    </span><span class="hl-4">cxrSession</span><span class="hl-1">.</span><span class="hl-0">render</span><span class="hl-1">(</span><span class="hl-4">timestamp</span><span class="hl-1">, </span><span class="hl-4">xrFrame</span><span class="hl-1">, </span><span class="hl-4">layer</span><span class="hl-1">);</span><br/><span class="hl-1">  }</span><br/><span class="hl-1">}, -</span><span class="hl-7">1000</span><span class="hl-1">);</span>
+</code><button type="button">Copy</button></pre>
+
+<a id="3d-user-interface" class="tsd-anchor"></a><h2 class="tsd-anchor-link">3D User Interface<a href="#3d-user-interface" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><a id="react-three-uikit-components" class="tsd-anchor"></a><h3 class="tsd-anchor-link">React Three UIKit Components<a href="#react-three-uikit-components" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>The 3D UI uses React Three UIKit for modern VR/AR interfaces:</p>
+<ul>
+<li><strong>Container</strong>: Layout and positioning components</li>
+<li><strong>Text</strong>: 3D text rendering with custom fonts</li>
+<li><strong>Button</strong>: Interactive buttons with hover effects</li>
+<li><strong>Image</strong>: Texture-based image display</li>
+<li><strong>Root</strong>: Main UI container with pixel-perfect rendering</li>
+</ul>
+<a id="ui-positioning" class="tsd-anchor"></a><h3 class="tsd-anchor-link">UI Positioning<a href="#ui-positioning" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>3D UI elements are positioned in world space:</p>
+<pre><code class="typescript"><span class="hl-1">&lt;</span><span class="hl-4">group</span><span class="hl-1"> </span><span class="hl-4">position</span><span class="hl-1">={</span><span class="hl-4">[</span><span class="hl-7">1.8</span><span class="hl-4">, </span><span class="hl-1">-</span><span class="hl-7">0.5</span><span class="hl-4">, </span><span class="hl-1">-</span><span class="hl-7">1.3</span><span class="hl-4">]} rotation={[</span><span class="hl-7">0</span><span class="hl-4">, </span><span class="hl-1">-</span><span class="hl-7">0.3</span><span class="hl-4">, </span><span class="hl-7">0</span><span class="hl-4">]}&gt;</span><br/><span class="hl-4">  &lt;Root pixelSize={0.001} width={1920} height={1440}&gt;</span><br/><span class="hl-4">    {</span><span class="hl-3">/* UI components */</span><span class="hl-4">}</span><br/><span class="hl-4">  &lt;/Root&gt;</span><br/><span class="hl-4">&lt;/group&gt;</span>
+</code><button type="button">Copy</button></pre>
+
+<a id="webgl-state-tracking" class="tsd-anchor"></a><h3 class="tsd-anchor-link">WebGL State Tracking<a href="#webgl-state-tracking" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>This example uses WebGL state tracking to prevent rendering conflicts between React Three Fiber and CloudXR. Both libraries render to the same WebGL context, but CloudXR's rendering operations modify WebGL state (framebuffers, textures, buffers, VAOs, shaders, blend modes, etc.) which can interfere with React Three Fiber's expectations. The example wraps the WebGL context with <code>bindGL()</code> from <code>@helpers/WebGLStateBinding</code>, then uses CloudXR's <code>onWebGLStateChangeBegin</code> and <code>onWebGLStateChangeEnd</code> callbacks to automatically save and restore state around CloudXR's rendering. This ensures React Three Fiber always finds the WebGL context in the expected state after each CloudXR render operation.</p>
+<p>See <code>examples/helpers/WebGLStateBinding.ts</code>, <code>WebGLState.ts</code>, and <code>WebGLStateApply.ts</code> for implementation details. Comprehensive tests are available in <code>tests/unit/WebGLState.test.ts</code> and <code>tests/playwright/WebGLTests/src/WebGLStateBindingTests.ts</code>.</p>
+<a id="license" class="tsd-anchor"></a><h2 class="tsd-anchor-link">License<a href="#license" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>See the <a href="../media/LICENSE-2">LICENSE</a> file for details.</p>
+<a id="third-party-assets" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Third-Party Assets<a href="#third-party-assets" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>Icons used in the immersive UI are from <a href="https://heroicons.com/">Heroicons</a> by Tailwind Labs, licensed under the MIT License. See <a href="../media/HEROICONS_LICENSE">HEROICONS_LICENSE</a> for details.</p>
+<a id="next-steps" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Next Steps<a href="#next-steps" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>Experience one of the compatible OpenXR applications with CloudXR Runtime</p>
+<ul>
+<li><a href="Show_Cases.Isaac_Lab_Teleop.html">Isaac Lab Teleoperation</a></li>
+</ul>
+</div></div><div class="col-sidebar"><div class="page-menu"><div class="tsd-navigation settings"><details class="tsd-accordion"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>Settings</h3></summary><div class="tsd-accordion-details"><div class="tsd-filter-visibility"><span class="settings-label">Member Visibility</span><ul id="tsd-filter-options"><li class="tsd-filter-item"><label class="tsd-filter-input"><input type="checkbox" id="tsd-filter-inherited" name="inherited" checked/><svg width="32" height="32" viewBox="0 0 32 32" aria-hidden="true"><rect class="tsd-checkbox-background" width="30" height="30" x="1" y="1" rx="6" fill="none"></rect><path class="tsd-checkbox-checkmark" d="M8.35422 16.8214L13.2143 21.75L24.6458 10.25" stroke="none" stroke-width="3.5" stroke-linejoin="round" fill="none"></path></svg><span>Inherited</span></label></li></ul></div><div class="tsd-theme-toggle"><label class="settings-label" for="tsd-theme">Theme</label><select id="tsd-theme"><option value="os">OS</option><option value="light">Light</option><option value="dark">Dark</option></select></div></div></details></div><details open class="tsd-accordion tsd-page-navigation"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>On This Page</h3></summary><div class="tsd-accordion-details"><a href="#react-three-fiber-example"><span>React <wbr/>Three <wbr/>Fiber <wbr/>Example</span></a><ul><li><a href="#overview"><span>Overview</span></a></li><li><a href="#quick-start"><span>Quick <wbr/>Start</span></a></li><li><ul><li><a href="#prerequisites"><span>Prerequisites</span></a></li><li><a href="#installation"><span>Installation</span></a></li><li><a href="#basic-usage"><span>Basic <wbr/>Usage</span></a></li></ul></li><li><a href="#technical-architecture"><span>Technical <wbr/>Architecture</span></a></li><li><ul><li><a href="#core-components"><span>Core <wbr/>Components</span></a></li><li><ul><li><a href="#apptsx"><span>App.tsx</span></a></li><li><a href="#cloudxrcomponenttsx"><span>CloudXRComponent.tsx</span></a></li><li><a href="#cloudxr2duitsx"><span>CloudXR2DUI.tsx</span></a></li><li><a href="#cloudxruitsx-3d-ui"><span>CloudXRUI.tsx (3<wbr/>D UI)</span></a></li></ul></li></ul></li><li><a href="#development"><span>Development</span></a></li><li><ul><li><a href="#project-structure"><span>Project <wbr/>Structure</span></a></li></ul></li><li><a href="#react-three-fiber-integration"><span>React <wbr/>Three <wbr/>Fiber <wbr/>Integration</span></a></li><li><ul><li><a href="#xr-store-configuration"><span>XR <wbr/>Store <wbr/>Configuration</span></a></li><li><a href="#canvas-setup"><span>Canvas <wbr/>Setup</span></a></li><li><a href="#custom-render-loop"><span>Custom <wbr/>Render <wbr/>Loop</span></a></li></ul></li><li><a href="#3d-user-interface"><span>3<wbr/>D <wbr/>User <wbr/>Interface</span></a></li><li><ul><li><a href="#react-three-uikit-components"><span>React <wbr/>Three UIKit <wbr/>Components</span></a></li><li><a href="#ui-positioning"><span>UI <wbr/>Positioning</span></a></li><li><a href="#webgl-state-tracking"><span>WebGL <wbr/>State <wbr/>Tracking</span></a></li></ul></li><li><a href="#license"><span>License</span></a></li><li><ul><li><a href="#third-party-assets"><span>Third-<wbr/>Party <wbr/>Assets</span></a></li></ul></li><li><a href="#next-steps"><span>Next <wbr/>Steps</span></a></li></ul></div></details></div><div class="site-menu"><nav class="tsd-navigation"><a href="../modules.html">CloudXR.js SDK Documentation - v6.0.0-beta</a><ul class="tsd-small-nested-navigation" id="tsd-nav-container"><li>Loading...</li></ul></nav></div></div></div><footer><p class="tsd-generator">Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></footer><div class="overlay"></div></body></html>
--- a/deps/cloudxr/docs/documents/Getting_Started.Sample_Client_-_WebGL.html
+++ b/deps/cloudxr/docs/documents/Getting_Started.Sample_Client_-_WebGL.html
@@ -0,0 +1,118 @@
+<!DOCTYPE html><html class="default" lang="en" data-base=".."><head><meta charset="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>Sample Client - WebGL | CloudXR.js SDK Documentation - v6.0.0-beta</title><meta name="description" content="Documentation for CloudXR.js SDK Documentation"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script defer src="../assets/main.js"></script><script async src="../assets/icons.js" id="tsd-icons-script"></script><script async src="../assets/search.js" id="tsd-search-script"></script><script async src="../assets/navigation.js" id="tsd-nav-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os";document.body.style.display="none";setTimeout(() => app?app.showPage():document.body.style.removeProperty("display"),500)</script><header class="tsd-page-toolbar"><div class="tsd-toolbar-contents container"><div class="table-cell" id="tsd-search"><div class="field"><label for="tsd-search-field" class="tsd-widget tsd-toolbar-icon search no-caption"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-search"></use></svg></label><input type="text" id="tsd-search-field" aria-label="Search"/></div><div class="field"><div id="tsd-toolbar-links"></div></div><ul class="results"><li class="state loading">Preparing search index...</li><li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">CloudXR.js SDK Documentation - v6.0.0-beta</a></div><div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-menu"></use></svg></a></div></div></header><div class="container container-main"><div class="col-content"><div class="tsd-page-title"><ul class="tsd-breadcrumb"><li><a href="../modules.html">CloudXR.js SDK Documentation</a></li><li><a href="Getting_Started.html">Getting Started</a></li><li><a href="Getting_Started.Sample_Client_-_WebGL.html">Sample Client - WebGL</a></li></ul></div><div class="tsd-panel tsd-typography"><a id="cloudxrjs-simple-example" class="tsd-anchor"></a><h1 class="tsd-anchor-link">CloudXR.js Simple Example<a href="#cloudxrjs-simple-example" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h1><p>A minimal WebGL example demonstrating WebXR streaming from a CloudXR server to a web browser. This example shows how to integrate WebXR with CloudXR to stream immersive VR/AR content.</p>
+<blockquote>
+<p><strong>Note:</strong> This example is for learning purposes, not production use.</p>
+</blockquote>
+<a id="quick-start" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Quick Start<a href="#quick-start" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><a id="prerequisites" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Prerequisites<a href="#prerequisites" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><ul>
+<li>Node.js (v20 or higher)</li>
+</ul>
+<a id="installation" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Installation<a href="#installation" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><ol>
+<li>
+<p><strong>Navigate to the example folder</strong></p>
+<pre><code class="bash"><span class="hl-0">cd</span><span class="hl-1"> </span><span class="hl-2">simple</span>
+</code><button type="button">Copy</button></pre>
+
+</li>
+<li>
+<p><strong>Install Dependencies</strong></p>
+<pre><code class="bash"><span class="hl-3"># For this early access release, please run the following to install SDK from the given tarball. This step will not be needed when SDK is publicly accessible.</span><br/><span class="hl-0">npm</span><span class="hl-1"> </span><span class="hl-2">install</span><span class="hl-1"> </span><span class="hl-2">../nvidia-cloudxr-6.0.0-beta.tgz</span><br/><br/><span class="hl-0">npm</span><span class="hl-1"> </span><span class="hl-2">install</span>
+</code><button type="button">Copy</button></pre>
+
+</li>
+<li>
+<p><strong>Build the Application</strong></p>
+<pre><code class="bash"><span class="hl-0">npm</span><span class="hl-1"> </span><span class="hl-2">run</span><span class="hl-1"> </span><span class="hl-2">build</span>
+</code><button type="button">Copy</button></pre>
+
+</li>
+<li>
+<p><strong>Start Development Server</strong></p>
+<pre><code class="bash"><span class="hl-0">npm</span><span class="hl-1"> </span><span class="hl-2">run</span><span class="hl-1"> </span><span class="hl-2">dev-server</span>
+</code><button type="button">Copy</button></pre>
+
+</li>
+<li>
+<p><strong>Open in Browser</strong></p>
+<ul>
+<li>Navigate to <code>http://localhost:8080</code> (or the port shown in terminal)</li>
+<li>For desktop browsers, IWER (Immersive Web Emulator Runtime) will automatically load to emulate a Meta Quest 3 headset</li>
+</ul>
+</li>
+</ol>
+<a id="basic-usage" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Basic Usage<a href="#basic-usage" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><ol>
+<li>
+<p><strong>Configure Connection</strong></p>
+<ul>
+<li>Enter CloudXR server IP address (default: localhost)</li>
+<li>Set port (default: 49100)</li>
+<li>Select AR or VR mode</li>
+</ul>
+</li>
+<li>
+<p><strong>Adjust Settings (Optional)</strong></p>
+<ul>
+<li>Per-eye resolution (must be multiples of 16)</li>
+<li>Target frame rate (72, 90, or 120 FPS)</li>
+<li>Streaming bitrate</li>
+<li>XR reference space and camera offsets</li>
+</ul>
+</li>
+<li>
+<p><strong>Start Streaming</strong></p>
+<ul>
+<li>Click &quot;CONNECT&quot;</li>
+<li>Grant XR permissions when prompted</li>
+</ul>
+</li>
+</ol>
+<p><strong>Requirements:</strong></p>
+<ul>
+<li>CloudXR server running and accessible</li>
+<li>WebXR-compatible device (VR/AR headset) or desktop browser (IWER loads automatically for emulation)</li>
+</ul>
+<a id="architecture" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Architecture<a href="#architecture" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><a id="cloudxrclient-class" class="tsd-anchor"></a><h3 class="tsd-anchor-link">CloudXRClient Class<a href="#cloudxrclient-class" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>The main application class (<code>CloudXRClient</code> in <code>main.ts</code>) handles:</p>
+<p><strong>Initialization:</strong></p>
+<ul>
+<li>UI element management and localStorage persistence</li>
+<li>Browser capability checks (WebXR, WebGL2, WebRTC)</li>
+<li>Event listener setup</li>
+</ul>
+<p><strong>Connection Flow:</strong></p>
+<ol>
+<li><strong>WebGL Setup</strong> - Creates high-performance WebGL2 context</li>
+<li><strong>WebXR Session</strong> - Enters immersive VR/AR mode</li>
+<li><strong>Reference Space</strong> - Configures coordinate system for tracking</li>
+<li><strong>CloudXR Session</strong> - Establishes streaming connection to server</li>
+<li><strong>Render Loop</strong> - Sends tracking data, receives video, renders frames</li>
+</ol>
+<p><strong>Key Components:</strong></p>
+<ul>
+<li><strong>WebXR Session</strong> - Hardware access (headset, controllers)</li>
+<li><strong>WebGL Context</strong> - Video rendering</li>
+<li><strong>CloudXR Session</strong> - Streaming management (WebRTC-based)</li>
+<li><strong>XRWebGLLayer</strong> - Bridge between WebXR and WebGL</li>
+</ul>
+<a id="project-structure" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Project Structure<a href="#project-structure" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><pre><code><span class="hl-4">simple</span><span class="hl-1">/</span><br/><span class="hl-1">├── </span><span class="hl-4">src</span><span class="hl-1">/</span><br/><span class="hl-1">│   └── </span><span class="hl-4">main</span><span class="hl-1">.</span><span class="hl-4">ts</span><span class="hl-1">          # </span><span class="hl-4">Main</span><span class="hl-1"> </span><span class="hl-4">application</span><span class="hl-1"> </span><span class="hl-4">sample</span><br/><span class="hl-1">├── </span><span class="hl-4">index</span><span class="hl-1">.</span><span class="hl-4">html</span><span class="hl-1">           # </span><span class="hl-5">UI</span><span class="hl-1"> </span><span class="hl-4">and</span><span class="hl-1"> </span><span class="hl-4">form</span><span class="hl-1"> </span><span class="hl-4">elements</span><span class="hl-1"> </span><span class="hl-4">sample</span><br/><span class="hl-1">├── </span><span class="hl-4">package</span><span class="hl-1">.</span><span class="hl-4">json</span><span class="hl-1">         # </span><span class="hl-4">Dependencies</span><span class="hl-1"> </span><span class="hl-4">and</span><span class="hl-1"> </span><span class="hl-4">scripts</span><br/><span class="hl-1">├── </span><span class="hl-4">webpack</span><span class="hl-1">.</span><span class="hl-4">common</span><span class="hl-1">.</span><span class="hl-4">js</span><span class="hl-1">    # </span><span class="hl-4">Webpack</span><span class="hl-1"> </span><span class="hl-4">base</span><span class="hl-1"> </span><span class="hl-4">configuration</span><span class="hl-1"> </span><span class="hl-4">sample</span><br/><span class="hl-1">├── </span><span class="hl-4">webpack</span><span class="hl-1">.</span><span class="hl-4">dev</span><span class="hl-1">.</span><span class="hl-4">js</span><span class="hl-1">       # </span><span class="hl-4">Development</span><span class="hl-1"> </span><span class="hl-4">configuration</span><span class="hl-1"> </span><span class="hl-4">sample</span><br/><span class="hl-1">├── </span><span class="hl-4">webpack</span><span class="hl-1">.</span><span class="hl-4">prod</span><span class="hl-1">.</span><span class="hl-4">js</span><span class="hl-1">      # </span><span class="hl-4">Production</span><span class="hl-1"> </span><span class="hl-4">configuration</span><span class="hl-1"> </span><span class="hl-4">sample</span><br/><span class="hl-1">└── </span><span class="hl-4">tsconfig</span><span class="hl-1">.</span><span class="hl-4">json</span><span class="hl-1">        # </span><span class="hl-4">TypeScript</span><span class="hl-1"> </span><span class="hl-4">configuration</span><span class="hl-1"> </span><span class="hl-4">sample</span>
+</code><button>Copy</button></pre>
+
+<a id="code-overview" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Code Overview<a href="#code-overview" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>The <code>main.ts</code> file contains well-commented code explaining each step:</p>
+<ol>
+<li><strong>Browser Checks</strong> - Validates WebXR, WebGL2, and WebRTC support</li>
+<li><strong>Connection Setup</strong> - Reads form inputs and validates configuration</li>
+<li><strong>WebGL Initialization</strong> - Creates optimized rendering context</li>
+<li><strong>WebXR Session</strong> - Enters immersive mode with requested features</li>
+<li><strong>CloudXR Setup</strong> - Configures streaming session with event handlers</li>
+<li><strong>Render Loop</strong> - Runs 72-120 times per second:
+<ul>
+<li>Sends tracking data to server</li>
+<li>Receives video frame</li>
+<li>Renders to display</li>
+</ul>
+</li>
+</ol>
+<p>Each method includes inline comments explaining the purpose and key concepts.</p>
+<a id="license" class="tsd-anchor"></a><h2 class="tsd-anchor-link">License<a href="#license" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>See the <a href="../media/LICENSE-1">LICENSE</a> file for details.</p>
+<a id="next-steps" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Next Steps<a href="#next-steps" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>Experience one of the compatible OpenXR applications with CloudXR Runtime</p>
+<ul>
+<li><a href="Show_Cases.Isaac_Lab_Teleop.html">Isaac Lab Teleoperation</a></li>
+</ul>
+</div></div><div class="col-sidebar"><div class="page-menu"><div class="tsd-navigation settings"><details class="tsd-accordion"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>Settings</h3></summary><div class="tsd-accordion-details"><div class="tsd-filter-visibility"><span class="settings-label">Member Visibility</span><ul id="tsd-filter-options"><li class="tsd-filter-item"><label class="tsd-filter-input"><input type="checkbox" id="tsd-filter-inherited" name="inherited" checked/><svg width="32" height="32" viewBox="0 0 32 32" aria-hidden="true"><rect class="tsd-checkbox-background" width="30" height="30" x="1" y="1" rx="6" fill="none"></rect><path class="tsd-checkbox-checkmark" d="M8.35422 16.8214L13.2143 21.75L24.6458 10.25" stroke="none" stroke-width="3.5" stroke-linejoin="round" fill="none"></path></svg><span>Inherited</span></label></li></ul></div><div class="tsd-theme-toggle"><label class="settings-label" for="tsd-theme">Theme</label><select id="tsd-theme"><option value="os">OS</option><option value="light">Light</option><option value="dark">Dark</option></select></div></div></details></div><details open class="tsd-accordion tsd-page-navigation"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>On This Page</h3></summary><div class="tsd-accordion-details"><a href="#cloudxrjs-simple-example"><span>CloudXR.js <wbr/>Simple <wbr/>Example</span></a><ul><li><a href="#quick-start"><span>Quick <wbr/>Start</span></a></li><li><ul><li><a href="#prerequisites"><span>Prerequisites</span></a></li><li><a href="#installation"><span>Installation</span></a></li><li><a href="#basic-usage"><span>Basic <wbr/>Usage</span></a></li></ul></li><li><a href="#architecture"><span>Architecture</span></a></li><li><ul><li><a href="#cloudxrclient-class"><span>CloudXRClient <wbr/>Class</span></a></li></ul></li><li><a href="#project-structure"><span>Project <wbr/>Structure</span></a></li><li><a href="#code-overview"><span>Code <wbr/>Overview</span></a></li><li><a href="#license"><span>License</span></a></li><li><a href="#next-steps"><span>Next <wbr/>Steps</span></a></li></ul></div></details></div><div class="site-menu"><nav class="tsd-navigation"><a href="../modules.html">CloudXR.js SDK Documentation - v6.0.0-beta</a><ul class="tsd-small-nested-navigation" id="tsd-nav-container"><li>Loading...</li></ul></nav></div></div></div><footer><p class="tsd-generator">Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></footer><div class="overlay"></div></body></html>
--- a/deps/cloudxr/docs/documents/Getting_Started.html
+++ b/deps/cloudxr/docs/documents/Getting_Started.html
@@ -0,0 +1,103 @@
+<!DOCTYPE html><html class="default" lang="en" data-base=".."><head><meta charset="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>Getting Started | CloudXR.js SDK Documentation - v6.0.0-beta</title><meta name="description" content="Documentation for CloudXR.js SDK Documentation"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script defer src="../assets/main.js"></script><script async src="../assets/icons.js" id="tsd-icons-script"></script><script async src="../assets/search.js" id="tsd-search-script"></script><script async src="../assets/navigation.js" id="tsd-nav-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os";document.body.style.display="none";setTimeout(() => app?app.showPage():document.body.style.removeProperty("display"),500)</script><header class="tsd-page-toolbar"><div class="tsd-toolbar-contents container"><div class="table-cell" id="tsd-search"><div class="field"><label for="tsd-search-field" class="tsd-widget tsd-toolbar-icon search no-caption"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-search"></use></svg></label><input type="text" id="tsd-search-field" aria-label="Search"/></div><div class="field"><div id="tsd-toolbar-links"></div></div><ul class="results"><li class="state loading">Preparing search index...</li><li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">CloudXR.js SDK Documentation - v6.0.0-beta</a></div><div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-menu"></use></svg></a></div></div></header><div class="container container-main"><div class="col-content"><div class="tsd-page-title"><ul class="tsd-breadcrumb"><li><a href="../modules.html">CloudXR.js SDK Documentation</a></li><li><a href="Getting_Started.html">Getting Started</a></li></ul></div><div class="tsd-panel tsd-typography"><a id="getting-started" class="tsd-anchor"></a><h1 class="tsd-anchor-link">Getting Started<a href="#getting-started" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h1><!-- Below we include the sample README.md for the overview sections. -->
+<p>It is <em>strongly recommended</em> that you work through this guide if you have never run CloudXR.js before.</p>
+<a id="the-pieces-of-a-cloudxrjs-deployment" class="tsd-anchor"></a><h2 class="tsd-anchor-link">The Pieces of a CloudXR.js Deployment<a href="#the-pieces-of-a-cloudxrjs-deployment" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>Even for development, you'll need all the pieces of a CloudXR.js deployment in order to build and test a client. These are:</p>
+<ul>
+<li>a CloudXR Server
+<ul>
+<li>with a <em>top-end</em> NVIDIA GPU or 2 (e.g. dual RTX 6000 Ada)</li>
+<li>which will run
+<ul>
+<li>the CloudXR Runtime</li>
+<li>an OpenXR application (the thing you want to render on the server but see on the client)</li>
+</ul>
+</li>
+</ul>
+</li>
+<li>a CloudXR.js development workstation
+<ul>
+<li>with Node.js and <code>npm</code></li>
+<li>which will run
+<ul>
+<li>the CloudXR.js sample client build</li>
+<li>a Node-based development web server</li>
+</ul>
+</li>
+</ul>
+</li>
+<li>a CloudXR.js client
+<ul>
+<li>which is one of:
+<ul>
+<li>a Meta Quest 3 with its built-in Browser app</li>
+<li>a desktop browser: <a href="https://www.google.com/chrome">Google Chrome</a> or Edge (IWER automatically loads for WebXR emulation)</li>
+</ul>
+</li>
+<li>which will run...
+<ul>
+<li>the CloudXR.js sample client <em>served from the development web server</em>.</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<p>We <em>recommend</em> that for your first experience, all above run on <em>the same computer</em> to eliminate networking related issues.</p>
+<a id="high-level-workflow" class="tsd-anchor"></a><h2 class="tsd-anchor-link">High Level Workflow<a href="#high-level-workflow" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>You need both a working client and a working server in order to test. Typically we follow a startup flow where server starts before the client:</p>
+<ol>
+<li>CloudXR Runtime</li>
+<li>Server XR application</li>
+<li>Sample client build + web server</li>
+<li>Test from the same computer</li>
+<li>Test from Quest 3 or a different computer</li>
+</ol>
+<a id="detailed-requirements" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Detailed Requirements<a href="#detailed-requirements" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><a id="cloudxr-server" class="tsd-anchor"></a><h3 class="tsd-anchor-link">CloudXR Server<a href="#cloudxr-server" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p><strong>Minimum:</strong> Single NVIDIA RTX 6000 Ada / L40 GPU or equivalent</p>
+<p><strong>Recommended:</strong> Two (2x) NVIDIA RTX 6000-class Ada (or later) GPUs:</p>
+<ul>
+<li>RTX 6000 Ada</li>
+<li>L40 / L40S</li>
+<li>RTX 6000 PRO Blackwell (Workstation, Max-Q Workstation, or Server)</li>
+</ul>
+<p><strong>Additional requirements:</strong></p>
+<ul>
+<li>Linux OS (required for Isaac Lab Teleoperation)</li>
+<li>Docker and NVIDIA Container Toolkit (Linux only)</li>
+<li>Network: Wired Ethernet connection recommended</li>
+</ul>
+<a id="client-device" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Client Device<a href="#client-device" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p><strong>Supported headset:</strong></p>
+<ul>
+<li>Meta Quest 3 (OS version 79 or later) - only headset validated for this release</li>
+<li>Uses built-in Browser app (no special software installation needed)</li>
+<li>Some manual browser configuration required (see <a href="Client_Setup.html">Client Setup Guide</a>)</li>
+</ul>
+<p><strong>For development/testing:</strong></p>
+<ul>
+<li>Desktop <a href="https://www.google.com/chrome">Google Chrome</a> (IWER automatically loads for WebXR emulation)</li>
+</ul>
+<a id="network-requirements" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Network Requirements<a href="#network-requirements" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p><strong>Critical requirements:</strong></p>
+<ul>
+<li>Latency: ≤ 40ms required, ≤ 20ms recommended</li>
+<li>Bandwidth: 200+ Mbps per streaming connection</li>
+<li>WiFi: WiFi 6 (WiFi 6e recommended) at 5GHz or 6GHz</li>
+<li><strong>At most one WiFi hop:</strong> Either server or client must use wired Ethernet</li>
+</ul>
+<p>See <a href="Networking_Setup.html">Networking Setup Guide</a> for detailed configuration examples.</p>
+<a id="step-by-step-guides" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Step-by-Step Guides<a href="#step-by-step-guides" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>Following the high-level workflow above, use these guides to set up each component:</p>
+<a id="1-set-up-cloudxr-runtime-and-server-application" class="tsd-anchor"></a><h3 class="tsd-anchor-link">1. Set Up CloudXR Runtime and Server Application<a href="#1-set-up-cloudxr-runtime-and-server-application" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>Choose an OpenXR server application to stream:</p>
+<ul>
+<li><a href="Show_Cases.Isaac_Lab_Teleop.html">Isaac Lab Teleoperation</a> - Robot learning and teleoperation workflows</li>
+</ul>
+<p>The guide includes instructions for setting up the CloudXR Runtime alongside the server application.</p>
+<a id="2-build-and-serve-a-sample-client" class="tsd-anchor"></a><h3 class="tsd-anchor-link">2. Build and Serve a Sample Client<a href="#2-build-and-serve-a-sample-client" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>Build one of our example web clients:</p>
+<ul>
+<li><a href="Getting_Started.Sample_Client_-_WebGL.html">WebGL Sample</a> - Simple example using vanilla WebGL</li>
+<li><a href="Getting_Started.Sample_Client_-_React.html">React Sample</a> - Example using React and Three.js</li>
+</ul>
+<a id="3-test-and-configure" class="tsd-anchor"></a><h3 class="tsd-anchor-link">3. Test and Configure<a href="#3-test-and-configure" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><ul>
+<li><strong>Test from the same computer first</strong> - Follow the desktop testing sections in the sample guides</li>
+<li><strong>Test from Meta Quest 3</strong> - See <a href="Client_Setup.html">Client Setup Guide</a> for browser configuration</li>
+<li><strong>Configure networking</strong> (if needed) - See <a href="Networking_Setup.html">Networking Setup Guide</a> for firewall and proxy examples</li>
+</ul>
+<a id="advanced-topics" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Advanced Topics<a href="#advanced-topics" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><ul>
+<li><a href="Session_API.html">Session APIs</a> - Programmatic control of CloudXR sessions</li>
+<li><a href="Telemetry.html">Telemetry</a> - Performance monitoring and debugging</li>
+</ul>
+</div></div><div class="col-sidebar"><div class="page-menu"><div class="tsd-navigation settings"><details class="tsd-accordion"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>Settings</h3></summary><div class="tsd-accordion-details"><div class="tsd-filter-visibility"><span class="settings-label">Member Visibility</span><ul id="tsd-filter-options"><li class="tsd-filter-item"><label class="tsd-filter-input"><input type="checkbox" id="tsd-filter-inherited" name="inherited" checked/><svg width="32" height="32" viewBox="0 0 32 32" aria-hidden="true"><rect class="tsd-checkbox-background" width="30" height="30" x="1" y="1" rx="6" fill="none"></rect><path class="tsd-checkbox-checkmark" d="M8.35422 16.8214L13.2143 21.75L24.6458 10.25" stroke="none" stroke-width="3.5" stroke-linejoin="round" fill="none"></path></svg><span>Inherited</span></label></li></ul></div><div class="tsd-theme-toggle"><label class="settings-label" for="tsd-theme">Theme</label><select id="tsd-theme"><option value="os">OS</option><option value="light">Light</option><option value="dark">Dark</option></select></div></div></details></div><details open class="tsd-accordion tsd-page-navigation"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>On This Page</h3></summary><div class="tsd-accordion-details"><a href="#getting-started"><span>Getting <wbr/>Started</span></a><ul><li><a href="#the-pieces-of-a-cloudxrjs-deployment"><span>The <wbr/>Pieces of a <wbr/>CloudXR.js <wbr/>Deployment</span></a></li><li><a href="#high-level-workflow"><span>High <wbr/>Level <wbr/>Workflow</span></a></li><li><a href="#detailed-requirements"><span>Detailed <wbr/>Requirements</span></a></li><li><ul><li><a href="#cloudxr-server"><span>CloudXR <wbr/>Server</span></a></li><li><a href="#client-device"><span>Client <wbr/>Device</span></a></li><li><a href="#network-requirements"><span>Network <wbr/>Requirements</span></a></li></ul></li><li><a href="#step-by-step-guides"><span>Step-<wbr/>by-<wbr/>Step <wbr/>Guides</span></a></li><li><ul><li><a href="#1-set-up-cloudxr-runtime-and-server-application"><span>1. <wbr/>Set <wbr/>Up <wbr/>CloudXR <wbr/>Runtime and <wbr/>Server <wbr/>Application</span></a></li><li><a href="#2-build-and-serve-a-sample-client"><span>2. <wbr/>Build and <wbr/>Serve a <wbr/>Sample <wbr/>Client</span></a></li><li><a href="#3-test-and-configure"><span>3. <wbr/>Test and <wbr/>Configure</span></a></li></ul></li><li><a href="#advanced-topics"><span>Advanced <wbr/>Topics</span></a></li></ul></div></details></div><div class="site-menu"><nav class="tsd-navigation"><a href="../modules.html">CloudXR.js SDK Documentation - v6.0.0-beta</a><ul class="tsd-small-nested-navigation" id="tsd-nav-container"><li>Loading...</li></ul></nav></div></div></div><footer><p class="tsd-generator">Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></footer><div class="overlay"></div></body></html>
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+<!DOCTYPE html><html class="default" lang="en" data-base=".."><head><meta charset="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>Overview | CloudXR.js SDK Documentation - v6.0.0-beta</title><meta name="description" content="Documentation for CloudXR.js SDK Documentation"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script defer src="../assets/main.js"></script><script async src="../assets/icons.js" id="tsd-icons-script"></script><script async src="../assets/search.js" id="tsd-search-script"></script><script async src="../assets/navigation.js" id="tsd-nav-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os";document.body.style.display="none";setTimeout(() => app?app.showPage():document.body.style.removeProperty("display"),500)</script><header class="tsd-page-toolbar"><div class="tsd-toolbar-contents container"><div class="table-cell" id="tsd-search"><div class="field"><label for="tsd-search-field" class="tsd-widget tsd-toolbar-icon search no-caption"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-search"></use></svg></label><input type="text" id="tsd-search-field" aria-label="Search"/></div><div class="field"><div id="tsd-toolbar-links"></div></div><ul class="results"><li class="state loading">Preparing search index...</li><li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">CloudXR.js SDK Documentation - v6.0.0-beta</a></div><div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-menu"></use></svg></a></div></div></header><div class="container container-main"><div class="col-content"><div class="tsd-page-title"><ul class="tsd-breadcrumb"><li><a href="../modules.html">CloudXR.js SDK Documentation</a></li><li><a href="Overview.html">Overview</a></li></ul></div><div class="tsd-panel tsd-typography"><a id="nvidia-cloudxrjs" class="tsd-anchor"></a><h1 class="tsd-anchor-link">NVIDIA CloudXR.js<a href="#nvidia-cloudxrjs" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h1><p>CloudXR.js is a JavaScript Client SDK that enables developers to build enterprise web applications for streaming high-performance VR and AR content from the CloudXR Runtime. Built on NVIDIA's CloudXR technology, this library provides seamless integration between web browsers and remote rendering systems, allowing users to experience immersive 3D applications directly in their browser.</p>
+<p>The SDK offers a complete solution for <a href="https://immersiveweb.dev/">WebXR</a> streaming, featuring automatic session management, optimized network protocols, and cross-platform compatibility. You can create rich VR/AR experiences that leverage the power of remote servers while maintaining the accessibility and ease of deployment that web applications provide. While we provide examples for WebGL and React Three Fiber implementations, CloudXR.js is a generic solution that can be integrated with any WebXR-compatible frameworks, making it suitable for a wide range of use cases from simple 3D visualizations to complex interactive applications.</p>
+<blockquote>
+<p><strong>Note</strong>: This is an early access beta release of CloudXR.js. Features and APIs may change in future releases.</p>
+</blockquote>
+<a id="🖥️-compatible-server-applications" class="tsd-anchor"></a><h2 class="tsd-anchor-link">🖥️ Compatible Server Applications<a href="#🖥️-compatible-server-applications" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>CloudXR.js works with any OpenXR-compatible application running on a local or remote server with the CloudXR Runtime, including:</p>
+<ul>
+<li><a href="Show_Cases.Isaac_Lab_Teleop.html"><strong>NVIDIA Isaac Lab</strong></a> - A unified and modular framework for robot learning that aims to simplify common workflows in robotics research.</li>
+<li><strong>OpenXR applications</strong> - Any OpenXR-compatible application running with the CloudXR Runtime.</li>
+</ul>
+<a id="🥽-compatible-client-devices" class="tsd-anchor"></a><h2 class="tsd-anchor-link">🥽 Compatible Client Devices<a href="#🥽-compatible-client-devices" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>Our current release is optimized for Meta Quest 3.</p>
+<a id="🚀-getting-started" class="tsd-anchor"></a><h2 class="tsd-anchor-link">🚀 Getting Started<a href="#🚀-getting-started" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>We provide several web examples to integrate with CloudXR.js. Please follow our <a href="Getting_Started.html">Getting Started Guide</a>.</p>
+<a id="📚-documentation" class="tsd-anchor"></a><h2 class="tsd-anchor-link">📚 Documentation<a href="#📚-documentation" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><a id="client-configuration" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Client Configuration<a href="#client-configuration" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>Learn how to configure your client device and web application hosting. Includes browser setup for Meta Quest 3, HTTP vs HTTPS hosting modes, and connection architecture. See <a href="Client_Setup.html">Client Setup Guide</a> for configuration examples and best practices.</p>
+<a id="session-api" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Session API<a href="#session-api" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>Learn how to manage CloudXR streaming sessions, including connection lifecycle, configuration options, and event handling. See <a href="Session_API.html">Session API Guide</a> for comprehensive API documentation.</p>
+<a id="networking-setup" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Networking Setup<a href="#networking-setup" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>Configure your network for optimal CloudXR streaming performance. We provide example configurations for firewall rules, WiFi optimization, and WebSocket proxy deployments. See <a href="Networking_Setup.html">Networking Setup Guide</a> for sample configurations and recommendations.</p>
+<a id="troubleshooting" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Troubleshooting<a href="#troubleshooting" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>Resolve common issues with CloudXR.js applications, including connection problems, streaming issues, and performance optimization. See <a href="Troubleshooting.html">Troubleshooting Guide</a> for solutions to common problems.</p>
+<a id="📄-licenses" class="tsd-anchor"></a><h2 class="tsd-anchor-link">📄 Licenses<a href="#📄-licenses" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><a id="open-source-dependencies" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Open Source Dependencies<a href="#open-source-dependencies" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>CloudXR.js incorporates third-party open source libraries. The following dependencies require attention for license compliance:</p>
+<a id="third-party-libraries-bundled-within-cloudxrjs" class="tsd-anchor"></a><h4 class="tsd-anchor-link">Third-Party Libraries Bundled within CloudXR.js<a href="#third-party-libraries-bundled-within-cloudxrjs" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><ul>
+<li><strong><a href="https://github.com/webrtchacks/adapter">webrtc-adapter</a></strong> - WebRTC compatibility shim for cross-browser support. Licensed under <a href="https://github.com/webrtcHacks/adapter/blob/main/LICENSE.md">BSD 3-Clause License</a>.</li>
+<li><strong><a href="https://github.com/open-telemetry/opentelemetry-js">opentelemetry-js</a></strong> - An observability framework for creating and managing application telemetry including traces, metrics, and logs. Licensed under <a href="https://github.com/open-telemetry/opentelemetry-js/blob/main/LICENSE">Apache License 2.0</a>.</li>
+</ul>
+<a id="peer-dependencies" class="tsd-anchor"></a><h4 class="tsd-anchor-link">Peer Dependencies<a href="#peer-dependencies" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><ul>
+<li><strong><a href="https://github.com/toji/gl-matrix">gl-matrix</a></strong> - Mathematics library for graphics programming. Licensed under <a href="https://github.com/toji/gl-matrix/blob/master/LICENSE.md">MIT License</a>.</li>
+<li><strong><a href="https://github.com/dcodeIO/long.js">long.js</a></strong> - A Long class for representing a 64-bit two's-complement integer value. Used for accurate handling of uint64 fields in protobuf messages. Licensed under <a href="https://github.com/dcodeIO/long.js/blob/master/LICENSE">Apache License 2.0</a>.</li>
+</ul>
+<p>For a complete list of all dependencies and their licenses, refer to the <code>package.json</code> file in the root directory.</p>
+<a id="cloudxrjs-license" class="tsd-anchor"></a><h3 class="tsd-anchor-link">CloudXR.js License<a href="#cloudxrjs-license" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>This project is licensed under the <a href="../media/LICENSE">NVIDIA CloudXR License</a>.</p>
+<blockquote>
+<p><strong>Important</strong>: This is an evaluation license for internal test and evaluation purposes only. For commercial use, please contact NVIDIA for appropriate licensing terms.</p>
+<p>Please review the license terms before using this SDK in your projects.</p>
+</blockquote>
+</div></div><div class="col-sidebar"><div class="page-menu"><div class="tsd-navigation settings"><details class="tsd-accordion"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>Settings</h3></summary><div class="tsd-accordion-details"><div class="tsd-filter-visibility"><span class="settings-label">Member Visibility</span><ul id="tsd-filter-options"><li class="tsd-filter-item"><label class="tsd-filter-input"><input type="checkbox" id="tsd-filter-inherited" name="inherited" checked/><svg width="32" height="32" viewBox="0 0 32 32" aria-hidden="true"><rect class="tsd-checkbox-background" width="30" height="30" x="1" y="1" rx="6" fill="none"></rect><path class="tsd-checkbox-checkmark" d="M8.35422 16.8214L13.2143 21.75L24.6458 10.25" stroke="none" stroke-width="3.5" stroke-linejoin="round" fill="none"></path></svg><span>Inherited</span></label></li></ul></div><div class="tsd-theme-toggle"><label class="settings-label" for="tsd-theme">Theme</label><select id="tsd-theme"><option value="os">OS</option><option value="light">Light</option><option value="dark">Dark</option></select></div></div></details></div><details open class="tsd-accordion tsd-page-navigation"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>On This Page</h3></summary><div class="tsd-accordion-details"><a href="#nvidia-cloudxrjs"><span>NVIDIA <wbr/>CloudXR.js</span></a><ul><li><a href="#🖥️-compatible-server-applications"><span>🖥️ <wbr/>Compatible <wbr/>Server <wbr/>Applications</span></a></li><li><a href="#🥽-compatible-client-devices"><span>🥽 <wbr/>Compatible <wbr/>Client <wbr/>Devices</span></a></li><li><a href="#🚀-getting-started"><span>🚀 <wbr/>Getting <wbr/>Started</span></a></li><li><a href="#📚-documentation"><span>📚 <wbr/>Documentation</span></a></li><li><ul><li><a href="#client-configuration"><span>Client <wbr/>Configuration</span></a></li><li><a href="#session-api"><span>Session API</span></a></li><li><a href="#networking-setup"><span>Networking <wbr/>Setup</span></a></li><li><a href="#troubleshooting"><span>Troubleshooting</span></a></li></ul></li><li><a href="#📄-licenses"><span>📄 <wbr/>Licenses</span></a></li><li><ul><li><a href="#open-source-dependencies"><span>Open <wbr/>Source <wbr/>Dependencies</span></a></li><li><ul><li><a href="#third-party-libraries-bundled-within-cloudxrjs"><span>Third-<wbr/>Party <wbr/>Libraries <wbr/>Bundled within <wbr/>CloudXR.js</span></a></li><li><a href="#peer-dependencies"><span>Peer <wbr/>Dependencies</span></a></li></ul></li><li><a href="#cloudxrjs-license"><span>CloudXR.js <wbr/>License</span></a></li></ul></li></ul></div></details></div><div class="site-menu"><nav class="tsd-navigation"><a href="../modules.html">CloudXR.js SDK Documentation - v6.0.0-beta</a><ul class="tsd-small-nested-navigation" id="tsd-nav-container"><li>Loading...</li></ul></nav></div></div></div><footer><p class="tsd-generator">Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></footer><div class="overlay"></div></body></html>
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+<!DOCTYPE html><html class="default" lang="en" data-base=".."><head><meta charset="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>Isaac Lab Teleop Troubleshooting | CloudXR.js SDK Documentation - v6.0.0-beta</title><meta name="description" content="Documentation for CloudXR.js SDK Documentation"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script defer src="../assets/main.js"></script><script async src="../assets/icons.js" id="tsd-icons-script"></script><script async src="../assets/search.js" id="tsd-search-script"></script><script async src="../assets/navigation.js" id="tsd-nav-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os";document.body.style.display="none";setTimeout(() => app?app.showPage():document.body.style.removeProperty("display"),500)</script><header class="tsd-page-toolbar"><div class="tsd-toolbar-contents container"><div class="table-cell" id="tsd-search"><div class="field"><label for="tsd-search-field" class="tsd-widget tsd-toolbar-icon search no-caption"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-search"></use></svg></label><input type="text" id="tsd-search-field" aria-label="Search"/></div><div class="field"><div id="tsd-toolbar-links"></div></div><ul class="results"><li class="state loading">Preparing search index...</li><li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">CloudXR.js SDK Documentation - v6.0.0-beta</a></div><div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-menu"></use></svg></a></div></div></header><div class="container container-main"><div class="col-content"><div class="tsd-page-title"><ul class="tsd-breadcrumb"><li><a href="../modules.html">CloudXR.js SDK Documentation</a></li><li><a href="Show_Cases.html">Show Cases</a></li><li><a href="Show_Cases.Isaac_Lab_Teleop.html">Isaac Lab Teleop</a></li><li><a href="Show_Cases.Isaac_Lab_Teleop.Isaac_Lab_Teleop_Troubleshooting.html">Isaac Lab Teleop Troubleshooting</a></li></ul></div><div class="tsd-panel tsd-typography"><a id="troubleshooting-isaac-lab-teleop-using-cloudxrjs" class="tsd-anchor"></a><h1 class="tsd-anchor-link">Troubleshooting Isaac Lab Teleop using CloudXR.js<a href="#troubleshooting-isaac-lab-teleop-using-cloudxrjs" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h1><a id="connected-successfully-but-no-video-content-displays-isaac-viewport-responds-to-tracking" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Connected successfully but no video content displays (Isaac viewport responds to tracking)<a href="#connected-successfully-but-no-video-content-displays-isaac-viewport-responds-to-tracking" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>When running the Docker container, also set the environment variable <code>NV_GPU_INDEX</code> for the runtime container to 0, 1, 2, etc., so the GPU index selected by CUDA matches the one selected by the host or other container.</p>
+<a id="during-operation-i-accidentally-triggered-the-homemenu-gesture" class="tsd-anchor"></a><h2 class="tsd-anchor-link">During operation, I accidentally triggered the home/menu gesture<a href="#during-operation-i-accidentally-triggered-the-homemenu-gesture" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>This is a known limitation in Meta Quest 3, and we do not have a workaround to disable this gesture. We advise avoiding moving objects with this gesture.</p>
+<a id="browser-does-not-show-the-buttons" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Browser does not show the buttons<a href="#browser-does-not-show-the-buttons" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>This usually happens if the streaming session does not start correctly. Please quit the WebXR session and refresh the page.</p>
+<p>If you are using remote debugging view, the Meta Quest 3 browser will not show the DOM overlay of the webpage unless you quit the entire WebXR session.</p>
+<p>In our upcoming release, we will provide ways to build immersive UIs so you do not need to rely on the webpage. The current workaround is to avoid using remote debugging.</p>
+<a id="while-teleoperating-the-world-feels-too-highlow" class="tsd-anchor"></a><h3 class="tsd-anchor-link">While teleoperating, the world feels too high/low.<a href="#while-teleoperating-the-world-feels-too-highlow" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>In the CloudXR Client web page in the Meta Quest 3 browser, ensure that the <code>Preferred Reference Space</code> is set to <code>local</code> and adjust the offsets as recommended.</p>
+<a id="while-teleoperating-i-noticed-significant-lag-sometimes" class="tsd-anchor"></a><h2 class="tsd-anchor-link">While teleoperating, I noticed significant lag sometimes<a href="#while-teleoperating-i-noticed-significant-lag-sometimes" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>There might be different factors causing the issue. For example, if you run streaming for a long time, heat throttling can reduce performance and frame rate.
+In this case, please power cycle your headset and give it time to cool down first. Other issues include networking, which can be improved by having less congested
+network environments, and low battery. Please ensure your headset is charged to 50% or above.</p>
+<a id="troubleshooting-the-web-application" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Troubleshooting the web application<a href="#troubleshooting-the-web-application" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>See the <a href="Troubleshooting.html">Generic Troubleshooting Guide</a>.</p>
+<a id="other-issues" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Other Issues<a href="#other-issues" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>If you have encountered more issues, please reach out to NVIDIA CloudXR team and share the following files</p>
+<pre><code class="bash"><span class="hl-3"># Checks filenames of the logs</span><br/><span class="hl-0">docker</span><span class="hl-1"> </span><span class="hl-2">exec</span><span class="hl-1"> </span><span class="hl-6">-it</span><span class="hl-1"> </span><span class="hl-2">cloudxr-runtime</span><span class="hl-1"> </span><span class="hl-2">ls</span><span class="hl-1"> </span><span class="hl-2">/tmp</span><br/><br/><span class="hl-3"># Copy the logs and ETLI files</span><br/><span class="hl-0">docker</span><span class="hl-1"> </span><span class="hl-2">cp</span><span class="hl-1"> </span><span class="hl-2">cloudxr-runtime:/tmp/xxx/cxr_server.xxx.log</span><span class="hl-1"> </span><span class="hl-2">.</span><br/><span class="hl-0">docker</span><span class="hl-1"> </span><span class="hl-2">cp</span><span class="hl-1"> </span><span class="hl-2">cloudxr-runtime:/tmp/xxx/xxx.etli</span><span class="hl-1"> </span><span class="hl-2">.</span>
+</code><button type="button">Copy</button></pre>
+
+<p>Isaac Lab console logs can also be helpful.</p>
+<a id="known-limitations" class="tsd-anchor"></a><h1 class="tsd-anchor-link">Known Limitations<a href="#known-limitations" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h1><ul>
+<li>Re-connection may require page refresh</li>
+<li>Meta Quest 3 home gesture cannot be disabled and may interfere with hand tracking</li>
+</ul>
+</div></div><div class="col-sidebar"><div class="page-menu"><div class="tsd-navigation settings"><details class="tsd-accordion"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>Settings</h3></summary><div class="tsd-accordion-details"><div class="tsd-filter-visibility"><span class="settings-label">Member Visibility</span><ul id="tsd-filter-options"><li class="tsd-filter-item"><label class="tsd-filter-input"><input type="checkbox" id="tsd-filter-inherited" name="inherited" checked/><svg width="32" height="32" viewBox="0 0 32 32" aria-hidden="true"><rect class="tsd-checkbox-background" width="30" height="30" x="1" y="1" rx="6" fill="none"></rect><path class="tsd-checkbox-checkmark" d="M8.35422 16.8214L13.2143 21.75L24.6458 10.25" stroke="none" stroke-width="3.5" stroke-linejoin="round" fill="none"></path></svg><span>Inherited</span></label></li></ul></div><div class="tsd-theme-toggle"><label class="settings-label" for="tsd-theme">Theme</label><select id="tsd-theme"><option value="os">OS</option><option value="light">Light</option><option value="dark">Dark</option></select></div></div></details></div><details open class="tsd-accordion tsd-page-navigation"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>On This Page</h3></summary><div class="tsd-accordion-details"><a href="#troubleshooting-isaac-lab-teleop-using-cloudxrjs"><span>Troubleshooting <wbr/>Isaac <wbr/>Lab <wbr/>Teleop using <wbr/>CloudXR.js</span></a><ul><li><a href="#connected-successfully-but-no-video-content-displays-isaac-viewport-responds-to-tracking"><span>Connected successfully but no video content displays (<wbr/>Isaac viewport responds to tracking)</span></a></li><li><a href="#during-operation-i-accidentally-triggered-the-homemenu-gesture"><span>During operation, <wbr/>I accidentally triggered the home/menu gesture</span></a></li><li><a href="#browser-does-not-show-the-buttons"><span>Browser does not show the buttons</span></a></li><li><ul><li><a href="#while-teleoperating-the-world-feels-too-highlow"><span>While teleoperating, the world feels too high/low.</span></a></li></ul></li><li><a href="#while-teleoperating-i-noticed-significant-lag-sometimes"><span>While teleoperating, <wbr/>I noticed significant lag sometimes</span></a></li><li><a href="#troubleshooting-the-web-application"><span>Troubleshooting the web application</span></a></li><li><a href="#other-issues"><span>Other <wbr/>Issues</span></a></li></ul><a href="#known-limitations"><span>Known <wbr/>Limitations</span></a></div></details></div><div class="site-menu"><nav class="tsd-navigation"><a href="../modules.html">CloudXR.js SDK Documentation - v6.0.0-beta</a><ul class="tsd-small-nested-navigation" id="tsd-nav-container"><li>Loading...</li></ul></nav></div></div></div><footer><p class="tsd-generator">Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></footer><div class="overlay"></div></body></html>
--- a/deps/cloudxr/docs/documents/Show_Cases.Isaac_Lab_Teleop.Setting_Up_Server_for_Teleoperation.html
+++ b/deps/cloudxr/docs/documents/Show_Cases.Isaac_Lab_Teleop.Setting_Up_Server_for_Teleoperation.html
@@ -0,0 +1,116 @@
+<!DOCTYPE html><html class="default" lang="en" data-base=".."><head><meta charset="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>Setting Up Server for Teleoperation | CloudXR.js SDK Documentation - v6.0.0-beta</title><meta name="description" content="Documentation for CloudXR.js SDK Documentation"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script defer src="../assets/main.js"></script><script async src="../assets/icons.js" id="tsd-icons-script"></script><script async src="../assets/search.js" id="tsd-search-script"></script><script async src="../assets/navigation.js" id="tsd-nav-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os";document.body.style.display="none";setTimeout(() => app?app.showPage():document.body.style.removeProperty("display"),500)</script><header class="tsd-page-toolbar"><div class="tsd-toolbar-contents container"><div class="table-cell" id="tsd-search"><div class="field"><label for="tsd-search-field" class="tsd-widget tsd-toolbar-icon search no-caption"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-search"></use></svg></label><input type="text" id="tsd-search-field" aria-label="Search"/></div><div class="field"><div id="tsd-toolbar-links"></div></div><ul class="results"><li class="state loading">Preparing search index...</li><li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">CloudXR.js SDK Documentation - v6.0.0-beta</a></div><div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-menu"></use></svg></a></div></div></header><div class="container container-main"><div class="col-content"><div class="tsd-page-title"><ul class="tsd-breadcrumb"><li><a href="../modules.html">CloudXR.js SDK Documentation</a></li><li><a href="Show_Cases.html">Show Cases</a></li><li><a href="Show_Cases.Isaac_Lab_Teleop.html">Isaac Lab Teleop</a></li><li><a href="Show_Cases.Isaac_Lab_Teleop.Setting_Up_Server_for_Teleoperation.html">Setting Up Server for Teleoperation</a></li></ul></div><div class="tsd-panel tsd-typography"><a id="running-isaac-lab-with-the-cloudxr-runtime" class="tsd-anchor"></a><h1 class="tsd-anchor-link">Running Isaac Lab with the CloudXR Runtime<a href="#running-isaac-lab-with-the-cloudxr-runtime" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h1><blockquote>
+<p><strong>Note</strong>: For this early access release, make sure you have a valid subscription to the NVIDIA CloudXR Early Access program on NVIDIA NGC.</p>
+</blockquote>
+<a id="download-cloudxr-runtime-container-from-nvidia-ngc" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Download CloudXR Runtime Container from NVIDIA NGC<a href="#download-cloudxr-runtime-container-from-nvidia-ngc" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><ol>
+<li>Follow <a href="https://docs.nvidia.com/ai-enterprise/deployment/spark-rapids-accelerator/latest/appendix-ngc.html">NGC API Key</a> doc to get your
+NGC API Key (<code>nvapi-xxxx</code>) for your NGC Organization.
+<ul>
+<li>The key should have granted permission to access <code>NGC Catalog</code></li>
+<li>Save the key to a safe place as it will only appear once</li>
+</ul>
+</li>
+<li>Setup credential for docker (use username <code>$oauthtoken</code> as literal)<pre><code class="bash"><span class="hl-0">docker</span><span class="hl-1"> </span><span class="hl-2">login</span><span class="hl-1"> </span><span class="hl-2">nvcr.io</span><br/><span class="hl-0">Username:</span><span class="hl-1"> </span><span class="hl-4">$oauthtoken</span><br/><span class="hl-0">Password:</span><span class="hl-1"> &lt;</span><span class="hl-2">your-ngc-api-ke</span><span class="hl-1">y&gt;</span>
+</code><button type="button">Copy</button></pre>
+
+</li>
+<li>Try to pull docker image and it should succeed<pre><code class="bash"><span class="hl-0">docker</span><span class="hl-1"> </span><span class="hl-2">pull</span><span class="hl-1"> </span><span class="hl-2">nvcr.io/nvidia/cloudxr-runtime-early-access:6.0.1-webrtc</span>
+</code><button type="button">Copy</button></pre>
+
+</li>
+</ol>
+<a id="🖥️-option-1-running-isaac-lab-and-cloudxr-runtime-containers-together" class="tsd-anchor"></a><h2 class="tsd-anchor-link">🖥️ Option 1: Running Isaac Lab and CloudXR Runtime Containers Together<a href="#🖥️-option-1-running-isaac-lab-and-cloudxr-runtime-containers-together" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>On your Isaac Lab workstation:</p>
+<ol>
+<li>
+<p>From the root of the Isaac Lab repository, update <code>./docker/.env.cloudxr-runtime</code> to the following version tag</p>
+<pre><code class="bash"><span class="hl-3"># NVIDIA CloudXR Runtime base image</span><br/><span class="hl-4">CLOUDXR_RUNTIME_BASE_IMAGE_ARG</span><span class="hl-1">=</span><span class="hl-2">nvcr.io/nvidia/cloudxr-runtime-early-access</span><br/><span class="hl-3"># NVIDIA CloudXR Runtime version to use</span><br/><span class="hl-4">CLOUDXR_RUNTIME_VERSION_ARG</span><span class="hl-1">=</span><span class="hl-2">6.0.1-webrtc</span>
+</code><button type="button">Copy</button></pre>
+
+</li>
+<li>
+<p>Also update <code>./docker/docker-compose.cloudxr-runtime.patch.yaml</code> to use host network instead:</p>
+<pre><code class="yaml"><span class="hl-11">services</span><span class="hl-1">:</span><br/><span class="hl-1">  </span><span class="hl-11">cloudxr-runtime</span><span class="hl-1">:</span><br/><span class="hl-1">    </span><span class="hl-11">image</span><span class="hl-1">: </span><span class="hl-12">${CLOUDXR_RUNTIME_BASE_IMAGE_ARG}:${CLOUDXR_RUNTIME_VERSION_ARG}</span><br/><span class="hl-1">    </span><span class="hl-11">network_mode</span><span class="hl-1">: </span><span class="hl-12">host</span><br/><span class="hl-1">    </span><span class="hl-3">#ports:</span><br/><span class="hl-1">    </span><span class="hl-3"># - &quot;48010:48010/tcp&quot; # signaling</span><br/><span class="hl-1">    </span><span class="hl-3"># - &quot;47998:47998/udp&quot; # media</span><br/><span class="hl-1">    </span><span class="hl-3"># - &quot;47999:47999/udp&quot; # media</span><br/><span class="hl-1">    </span><span class="hl-3"># - &quot;48000:48000/udp&quot; # media</span><br/><span class="hl-1">    </span><span class="hl-3"># - &quot;48005:48005/udp&quot; # media</span><br/><span class="hl-1">    </span><span class="hl-3"># - &quot;48008:48008/udp&quot; # media</span><br/><span class="hl-1">    </span><span class="hl-3"># - &quot;48012:48012/udp&quot; # media</span><br/><span class="hl-1">    </span><span class="hl-11">healthcheck</span><span class="hl-1">:</span><br/><span class="hl-1">    </span><span class="hl-7">...</span><br/><span class="hl-1">...</span>
+</code><button type="button">Copy</button></pre>
+
+</li>
+<li>
+<p>Start the Isaac Lab and CloudXR Runtime containers using the Isaac Lab <a href="http://container.py">container.py</a> script</p>
+<pre><code class="bash"><span class="hl-0">./docker/container.py</span><span class="hl-1"> </span><span class="hl-2">start</span><span class="hl-1"> </span><span class="hl-10">\</span><br/><span class="hl-1">    </span><span class="hl-6">--files</span><span class="hl-1"> </span><span class="hl-2">docker-compose.cloudxr-runtime.patch.yaml</span><span class="hl-1"> </span><span class="hl-10">\</span><br/><span class="hl-1">    </span><span class="hl-6">--env-file</span><span class="hl-1"> </span><span class="hl-2">.env.cloudxr-runtime</span>
+</code><button type="button">Copy</button></pre>
+
+<p>If prompted, elect to activate X11 forwarding, which is necessary to see the Isaac Lab UI.</p>
+<blockquote>
+<p><strong>Note</strong>: The <code>container.py</code> script is a thin wrapper around Docker Compose. The additional <code>--files</code> and <code>--env-file</code> arguments augment the base Docker Compose configuration to additionally run the CloudXR Runtime.
+For more details on <code>container.py</code> and running Isaac Lab with Docker Compose, see the <a href="https://isaac-sim.github.io/IsaacLab/main/source/deployment/docker.html#deployment-docker">Docker Guide</a>.</p>
+</blockquote>
+</li>
+<li>
+<p>Enter the Isaac Lab base container with:</p>
+<pre><code class="bash"><span class="hl-0">./docker/container.py</span><span class="hl-1"> </span><span class="hl-2">enter</span><span class="hl-1"> </span><span class="hl-2">base</span>
+</code><button type="button">Copy</button></pre>
+
+<p>From within the Isaac Lab base container, you can run Isaac Lab scripts that use XR.</p>
+</li>
+<li>
+<p>Run an example teleop task with:</p>
+<pre><code class="bash"><span class="hl-0">./isaaclab.sh</span><span class="hl-1"> </span><span class="hl-6">-p</span><span class="hl-1"> </span><span class="hl-2">scripts/environments/teleoperation/teleop_se3_agent.py</span><span class="hl-1"> </span><span class="hl-10">\</span><br/><span class="hl-1">    </span><span class="hl-6">--task</span><span class="hl-1"> </span><span class="hl-2">Isaac-PickPlace-Locomanipulation-G1-Abs-v0</span><span class="hl-1"> </span><span class="hl-10">\</span><br/><span class="hl-1">    </span><span class="hl-6">--teleop_device</span><span class="hl-1"> </span><span class="hl-2">handtracking</span><span class="hl-1"> </span><span class="hl-10">\</span><br/><span class="hl-1">    </span><span class="hl-6">--enable_pinocchio</span><span class="hl-1"> </span><span class="hl-10">\</span><br/><span class="hl-1">    </span><span class="hl-6">--info</span>
+</code><button type="button">Copy</button></pre>
+
+<blockquote>
+<p><strong>Note</strong>: You could also choose a different environment like <code>Isaac-PickPlace-GR1T2-Abs-v0</code>.</p>
+</blockquote>
+</li>
+<li>
+<p>You'll want to leave the container running for the next steps. But once you are finished, you can stop the containers with:</p>
+<pre><code class="bash"><span class="hl-0">./docker/container.py</span><span class="hl-1"> </span><span class="hl-2">stop</span><span class="hl-1"> </span><span class="hl-10">\</span><br/><span class="hl-1">    </span><span class="hl-6">--files</span><span class="hl-1"> </span><span class="hl-2">docker-compose.cloudxr-runtime.patch.yaml</span><span class="hl-1"> </span><span class="hl-10">\</span><br/><span class="hl-1">    </span><span class="hl-6">--env-file</span><span class="hl-1"> </span><span class="hl-2">.env.cloudxr-runtime</span>
+</code><button type="button">Copy</button></pre>
+
+</li>
+</ol>
+<a id="🖥️-option-2-running-isaac-lab-as-local-process-and-cloudxr-runtime-container" class="tsd-anchor"></a><h2 class="tsd-anchor-link">🖥️ Option 2: Running Isaac Lab as Local Process and CloudXR Runtime Container<a href="#🖥️-option-2-running-isaac-lab-as-local-process-and-cloudxr-runtime-container" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>You can also run Isaac Lab as a local process that connects to the CloudXR Runtime Docker container.
+This method requires you to manually specify a shared directory for communication between the Isaac Lab instance and the CloudXR Runtime.</p>
+<p>On your Isaac Lab workstation:</p>
+<ol>
+<li>From the root of the Isaac Lab repository, create a local folder for temporary cache files:</li>
+</ol>
+<pre><code class="bash"><span class="hl-0">mkdir</span><span class="hl-1"> </span><span class="hl-6">-p</span><span class="hl-1"> $(</span><span class="hl-0">pwd</span><span class="hl-1">)</span><span class="hl-2">/openxr</span>
+</code><button type="button">Copy</button></pre>
+
+<ol start="2">
+<li>Initiate the CloudXR Runtime Docker container, ensuring the previously created directory is mounted to the <code>/openxr</code> directory within the container for Isaac Lab visibility:</li>
+</ol>
+<pre><code class="bash"><span class="hl-0">docker</span><span class="hl-1"> </span><span class="hl-2">run</span><span class="hl-1"> </span><span class="hl-6">-dit</span><span class="hl-1"> </span><span class="hl-6">--rm</span><span class="hl-1"> </span><span class="hl-6">--name</span><span class="hl-1"> </span><span class="hl-2">cloudxr-runtime</span><span class="hl-1"> </span><span class="hl-10">\</span><br/><span class="hl-1">    </span><span class="hl-6">--user</span><span class="hl-1"> $(</span><span class="hl-0">id</span><span class="hl-1"> </span><span class="hl-6">-u</span><span class="hl-1">)</span><span class="hl-2">:</span><span class="hl-1">$(</span><span class="hl-0">id</span><span class="hl-1"> </span><span class="hl-6">-g</span><span class="hl-1">) </span><span class="hl-10">\</span><br/><span class="hl-1">    </span><span class="hl-6">--gpus=all</span><span class="hl-1"> </span><span class="hl-10">\</span><br/><span class="hl-1">    </span><span class="hl-6">-e</span><span class="hl-1"> </span><span class="hl-2">&quot;ACCEPT_EULA=Y&quot;</span><span class="hl-1"> </span><span class="hl-10">\</span><br/><span class="hl-1">    </span><span class="hl-6">--mount</span><span class="hl-1"> </span><span class="hl-2">type=bind,src=</span><span class="hl-1">$(</span><span class="hl-0">pwd</span><span class="hl-1">)</span><span class="hl-2">/openxr,dst=/openxr</span><span class="hl-1"> </span><span class="hl-10">\</span><br/><span class="hl-1">    </span><span class="hl-6">--network</span><span class="hl-1"> </span><span class="hl-2">host</span><span class="hl-1"> </span><span class="hl-10">\</span><br/><span class="hl-1">    </span><span class="hl-2">nvcr.io/nvidia/cloudxr-runtime-early-access:6.0.1-webrtc</span>
+</code><button type="button">Copy</button></pre>
+
+<blockquote>
+<p>If you choose a particular GPU instead of all, you need to make sure Isaac Lab also runs on that GPU. See <a href="Show_Cases.Isaac_Lab_Teleop.Isaac_Lab_Teleop_Troubleshooting.html">Isaac Lab Teleop Troubleshooting</a> how to do so.</p>
+</blockquote>
+<ol start="3">
+<li>In a new terminal where you intend to run Isaac Lab, export the following environment variables, which reference the directory created above:</li>
+</ol>
+<pre><code class="bash"><span class="hl-6">export</span><span class="hl-1"> </span><span class="hl-4">XDG_RUNTIME_DIR</span><span class="hl-1">=$(</span><span class="hl-0">pwd</span><span class="hl-1">)/</span><span class="hl-4">openxr</span><span class="hl-1">/</span><span class="hl-4">run</span><br/><span class="hl-6">export</span><span class="hl-1"> </span><span class="hl-4">XR_RUNTIME_JSON</span><span class="hl-1">=$(</span><span class="hl-0">pwd</span><span class="hl-1">)/</span><span class="hl-4">openxr</span><span class="hl-1">/</span><span class="hl-4">share</span><span class="hl-1">/</span><span class="hl-4">openxr</span><span class="hl-1">/</span><span class="hl-4">1</span><span class="hl-1">/</span><span class="hl-4">openxr_cloudxr</span><span class="hl-1">.</span><span class="hl-4">json</span>
+</code><button type="button">Copy</button></pre>
+
+<ol start="4">
+<li>Run the example teleop task with:</li>
+</ol>
+<pre><code class="bash"><span class="hl-0">./isaaclab.sh</span><span class="hl-1"> </span><span class="hl-6">-p</span><span class="hl-1"> </span><span class="hl-2">scripts/environments/teleoperation/teleop_se3_agent.py</span><span class="hl-1"> </span><span class="hl-10">\</span><br/><span class="hl-1">    </span><span class="hl-6">--task</span><span class="hl-1"> </span><span class="hl-2">Isaac-PickPlace-GR1T2-Abs-v0</span><span class="hl-1"> </span><span class="hl-10">\</span><br/><span class="hl-1">    </span><span class="hl-6">--teleop_device</span><span class="hl-1"> </span><span class="hl-2">handtracking</span><span class="hl-1"> </span><span class="hl-10">\</span><br/><span class="hl-1">    </span><span class="hl-6">--enable_pinocchio</span><span class="hl-1"> </span><span class="hl-10">\</span><br/><span class="hl-1">    </span><span class="hl-6">--info</span>
+</code><button type="button">Copy</button></pre>
+
+<p>With Isaac Lab and the CloudXR Runtime running:</p>
+<ol>
+<li>In the Isaac Lab UI: locate the Panel named AR.</li>
+</ol>
+<p><img src="../media/ov-ar-panel.png" alt="Isaac Lab UI: AR Panel"></p>
+<ol start="2">
+<li>Click <strong>Start AR</strong></li>
+</ol>
+<p><img src="../media/startar.png" alt="Start AR"></p>
+<p>The Viewport should show two eyes being rendered, and you should see the status &quot;AR profile is active&quot;.</p>
+<p><img src="../media/cloudxr_viewport.jpg" alt="Isaac Lab viewport rendering two eyes"></p>
+<blockquote>
+<p>Above instructions are <em>modified</em> from <a href="https://isaac-sim.github.io/IsaacLab/main/source/how-to/cloudxr_teleoperation.html#run-isaac-lab-with-the-cloudxr-runtime">these instructions</a>,
+in particular, to provide the CloudXR Runtime with environment variables needed for streaming to the Meta Quest 3 Browser.</p>
+</blockquote>
+<a id="next" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Next<a href="#next" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p><a href="Show_Cases.Isaac_Lab_Teleop.Teleoperating_on_Meta_Quest_3.html">Teleoperating on Meta Quest 3</a></p>
+<a id="previous" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Previous<a href="#previous" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p><a href="Show_Cases.Isaac_Lab_Teleop.html">Running Isaac Lab Teleoperation on Meta Quest 3</a></p>
+</div></div><div class="col-sidebar"><div class="page-menu"><div class="tsd-navigation settings"><details class="tsd-accordion"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>Settings</h3></summary><div class="tsd-accordion-details"><div class="tsd-filter-visibility"><span class="settings-label">Member Visibility</span><ul id="tsd-filter-options"><li class="tsd-filter-item"><label class="tsd-filter-input"><input type="checkbox" id="tsd-filter-inherited" name="inherited" checked/><svg width="32" height="32" viewBox="0 0 32 32" aria-hidden="true"><rect class="tsd-checkbox-background" width="30" height="30" x="1" y="1" rx="6" fill="none"></rect><path class="tsd-checkbox-checkmark" d="M8.35422 16.8214L13.2143 21.75L24.6458 10.25" stroke="none" stroke-width="3.5" stroke-linejoin="round" fill="none"></path></svg><span>Inherited</span></label></li></ul></div><div class="tsd-theme-toggle"><label class="settings-label" for="tsd-theme">Theme</label><select id="tsd-theme"><option value="os">OS</option><option value="light">Light</option><option value="dark">Dark</option></select></div></div></details></div><details open class="tsd-accordion tsd-page-navigation"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>On This Page</h3></summary><div class="tsd-accordion-details"><a href="#running-isaac-lab-with-the-cloudxr-runtime"><span>Running <wbr/>Isaac <wbr/>Lab with the <wbr/>CloudXR <wbr/>Runtime</span></a><ul><li><a href="#download-cloudxr-runtime-container-from-nvidia-ngc"><span>Download <wbr/>CloudXR <wbr/>Runtime <wbr/>Container from NVIDIA NGC</span></a></li><li><a href="#🖥️-option-1-running-isaac-lab-and-cloudxr-runtime-containers-together"><span>🖥️ <wbr/>Option 1: <wbr/>Running <wbr/>Isaac <wbr/>Lab and <wbr/>CloudXR <wbr/>Runtime <wbr/>Containers <wbr/>Together</span></a></li><li><a href="#🖥️-option-2-running-isaac-lab-as-local-process-and-cloudxr-runtime-container"><span>🖥️ <wbr/>Option 2: <wbr/>Running <wbr/>Isaac <wbr/>Lab as <wbr/>Local <wbr/>Process and <wbr/>CloudXR <wbr/>Runtime <wbr/>Container</span></a></li><li><a href="#next"><span>Next</span></a></li><li><a href="#previous"><span>Previous</span></a></li></ul></div></details></div><div class="site-menu"><nav class="tsd-navigation"><a href="../modules.html">CloudXR.js SDK Documentation - v6.0.0-beta</a><ul class="tsd-small-nested-navigation" id="tsd-nav-container"><li>Loading...</li></ul></nav></div></div></div><footer><p class="tsd-generator">Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></footer><div class="overlay"></div></body></html>
--- a/deps/cloudxr/docs/documents/Show_Cases.Isaac_Lab_Teleop.Teleoperating_on_Meta_Quest_3.html
+++ b/deps/cloudxr/docs/documents/Show_Cases.Isaac_Lab_Teleop.Teleoperating_on_Meta_Quest_3.html
@@ -0,0 +1,192 @@
+<!DOCTYPE html><html class="default" lang="en" data-base=".."><head><meta charset="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>Teleoperating on Meta Quest 3 | CloudXR.js SDK Documentation - v6.0.0-beta</title><meta name="description" content="Documentation for CloudXR.js SDK Documentation"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script defer src="../assets/main.js"></script><script async src="../assets/icons.js" id="tsd-icons-script"></script><script async src="../assets/search.js" id="tsd-search-script"></script><script async src="../assets/navigation.js" id="tsd-nav-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os";document.body.style.display="none";setTimeout(() => app?app.showPage():document.body.style.removeProperty("display"),500)</script><header class="tsd-page-toolbar"><div class="tsd-toolbar-contents container"><div class="table-cell" id="tsd-search"><div class="field"><label for="tsd-search-field" class="tsd-widget tsd-toolbar-icon search no-caption"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-search"></use></svg></label><input type="text" id="tsd-search-field" aria-label="Search"/></div><div class="field"><div id="tsd-toolbar-links"></div></div><ul class="results"><li class="state loading">Preparing search index...</li><li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">CloudXR.js SDK Documentation - v6.0.0-beta</a></div><div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-menu"></use></svg></a></div></div></header><div class="container container-main"><div class="col-content"><div class="tsd-page-title"><ul class="tsd-breadcrumb"><li><a href="../modules.html">CloudXR.js SDK Documentation</a></li><li><a href="Show_Cases.html">Show Cases</a></li><li><a href="Show_Cases.Isaac_Lab_Teleop.html">Isaac Lab Teleop</a></li><li><a href="Show_Cases.Isaac_Lab_Teleop.Teleoperating_on_Meta_Quest_3.html">Teleoperating on Meta Quest 3</a></li></ul></div><div class="tsd-panel tsd-typography"><a id="teleoperating-on-meta-quest-3" class="tsd-anchor"></a><h1 class="tsd-anchor-link">Teleoperating on Meta Quest 3<a href="#teleoperating-on-meta-quest-3" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h1><a id="prerequisites" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Prerequisites<a href="#prerequisites" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>Before building and hosting the web client, ensure you have the following installed:</p>
+<ul>
+<li><strong>Node.js</strong> (v20.19.0 or later) and <strong>npm</strong>
+<ul>
+<li>Download and installation instructions: <a href="https://nodejs.org/en/download">https://nodejs.org/en/download</a></li>
+<li>Verify installation: <code>node --version</code> and <code>npm --version</code></li>
+</ul>
+</li>
+</ul>
+<a id="🔨-build-client-and-host-web-server" class="tsd-anchor"></a><h2 class="tsd-anchor-link">🔨 Build Client and Host Web Server<a href="#🔨-build-client-and-host-web-server" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>Once you have Isaac Lab and the CloudXR Runtime running, you can build and host the web server for the CloudXR.js client application.</p>
+<a id="1-navigate-to-example-directory" class="tsd-anchor"></a><h3 class="tsd-anchor-link">1. Navigate to Example Directory<a href="#1-navigate-to-example-directory" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><pre><code class="bash"><span class="hl-0">cd</span><span class="hl-1"> </span><span class="hl-2">isaac</span>
+</code><button type="button">Copy</button></pre>
+
+<a id="2-install-dependencies" class="tsd-anchor"></a><h3 class="tsd-anchor-link">2. Install Dependencies<a href="#2-install-dependencies" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><pre><code class="bash"><span class="hl-3"># For this early access release, install the SDK from the provided tarball</span><br/><span class="hl-3"># This step will not be required when the SDK is publicly accessible</span><br/><span class="hl-0">npm</span><span class="hl-1"> </span><span class="hl-2">install</span><span class="hl-1"> </span><span class="hl-2">/path/to/nvidia-cloudxr-6.0.0-beta.tgz</span><br/><br/><span class="hl-3"># Install remaining dependencies</span><br/><span class="hl-0">npm</span><span class="hl-1"> </span><span class="hl-2">install</span>
+</code><button type="button">Copy</button></pre>
+
+<a id="3-choose-hosting-mode" class="tsd-anchor"></a><h3 class="tsd-anchor-link">3. Choose Hosting Mode<a href="#3-choose-hosting-mode" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>Select the appropriate server mode based on your deployment requirements:</p>
+<p><strong>For local development (HTTP):</strong></p>
+<pre><code class="bash"><span class="hl-0">npm</span><span class="hl-1"> </span><span class="hl-2">run</span><span class="hl-1"> </span><span class="hl-2">dev-server</span>
+</code><button type="button">Copy</button></pre>
+
+<ul>
+<li>Local: <code>http://localhost:8080/</code></li>
+<li>Network: <code>http://&lt;server-ip&gt;:8080/</code></li>
+<li>Supports both <code>ws://</code> (direct) and <code>wss://</code> (proxied) runtime connections</li>
+</ul>
+<p><strong>For local development or production (HTTPS):</strong></p>
+<pre><code class="bash"><span class="hl-0">npm</span><span class="hl-1"> </span><span class="hl-2">run</span><span class="hl-1"> </span><span class="hl-2">dev-server:https</span>
+</code><button type="button">Copy</button></pre>
+
+<ul>
+<li>Local: <code>https://localhost:8080/</code></li>
+<li>Network: <code>https://&lt;server-ip&gt;:8080/</code></li>
+<li>Generates self-signed certificates for development, use custom certificates for production</li>
+<li>See <a href="Client_Setup.html#trust-ssl-certificates-https-mode">Client Setup - Trust SSL Certificates</a> for trusting certs in your device</li>
+</ul>
+<blockquote>
+<p><strong>Note</strong>: When using HTTPS mode, you must configure a WebSocket proxy. Browsers enforce mixed content policies that block insecure <code>ws://</code> connections from HTTPS pages. See <a href="Networking_Setup.html#websocket-proxy-setup">Networking Setup - WebSocket Proxy</a> for proxy configuration example.</p>
+</blockquote>
+<a id="🖥️-test-from-the-same-computer-optional-but-recommended" class="tsd-anchor"></a><h2 class="tsd-anchor-link">🖥️ Test from the Same Computer (Optional but Recommended)<a href="#🖥️-test-from-the-same-computer-optional-but-recommended" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>For local development, our web app automatically loads IWER (Immersive Web Emulator Runtime) to emulate a Meta Quest 3 headset when no physical XR device is detected.</p>
+<ol>
+<li>
+<p>Make sure you have:</p>
+<ul>
+<li>Chromium browser or <a href="https://www.google.com/chrome">Google Chrome</a></li>
+<li>IWER will automatically load when you start the application
+<ul>
+<li>If you have installed the <a href="https://chromewebstore.google.com/detail/immersive-web-emulator/cgffilbpcibhmcfbgggfhfolhkfbhmik?hl=en">Immersive Web Emulator Chrome extension</a>, please disable it as it will conflict with IWER</li>
+</ul>
+</li>
+</ul>
+</li>
+<li>
+<p>Ensure your CloudXR Runtime and OpenXR application are running</p>
+</li>
+<li>
+<p>Navigate to the web application based on your chosen hosting mode:</p>
+<ul>
+<li>HTTP mode: <code>http://localhost:8080/</code></li>
+<li>HTTPS mode: <code>https://localhost:8080/</code>
+<ul>
+<li>Accept the cert (see <a href="Client_Setup.html#trust-web-application-certificate">Client Setup - Trust Web Cert</a>)</li>
+</ul>
+</li>
+</ul>
+</li>
+<li>
+<p>Make sure you see the following messaging, indicating IWER is loaded</p>
+<p><img src="../media/iwer-message.png" alt=""></p>
+</li>
+<li>
+<p>(HTTPS mode only) Fill in the <code>Proxy URL</code> if you have any, or click to accept the cert</p>
+<p><img src="../media/accept-proxy-cert.png" alt=""></p>
+</li>
+<li>
+<p>Click <code>CONNECT</code></p>
+</li>
+</ol>
+<p>If successful, you should see the green <code>CONNECT</code> button change to <code>CONNECT (STREAMING)</code>, and the streamed content from your server application will appear in your browser!</p>
+<p>You could use the develop UI from IWER to emulate device position and input, for example:</p>
+<p><img src="../media/iwer-buttons.png" alt=""></p>
+<a id="🥽-test-from-meta-quest-3" class="tsd-anchor"></a><h2 class="tsd-anchor-link">🥽 Test from Meta Quest 3<a href="#🥽-test-from-meta-quest-3" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>Once you've validated the setup works locally, you can test with an actual Meta Quest 3 headset.</p>
+<a id="prerequisites-1" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Prerequisites<a href="#prerequisites-1" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><ol>
+<li>
+<p><strong>Configure Browser</strong>: Follow the <a href="Client_Setup.html#meta-quest-3-browser-configuration">Client Setup Guide - Meta Quest 3 Browser Configuration</a> to:</p>
+<ul>
+<li>Enable WebXR for HTTP origins (if using <code>npm run dev-server</code>)</li>
+<li>Trust SSL certificates (if using <code>npm run dev-server:https</code>)</li>
+</ul>
+</li>
+<li>
+<p><strong>Configure Network</strong>: Ensure required ports are open:</p>
+<ul>
+<li>Web server: Port 8080 (TCP) or your configured port</li>
+<li>CloudXR Runtime: Port 49100 (TCP) and 47998-48012 (UDP)</li>
+<li>WebSocket proxy (if using HTTPS): Port 48322 (TCP) or your configured port</li>
+<li>See <a href="Networking_Setup.html#firewall-configuration">Networking Setup - Firewall Configuration</a> for details</li>
+</ul>
+</li>
+</ol>
+<a id="connection-configuration" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Connection Configuration<a href="#connection-configuration" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><ol>
+<li>
+<p><strong>Navigate to the web application</strong> on your Meta Quest 3 Browser:</p>
+<ul>
+<li>HTTP mode: <code>http://&lt;server-ip&gt;:8080/</code></li>
+<li>HTTPS mode: <code>https://&lt;server-ip&gt;:8080/</code></li>
+</ul>
+</li>
+<li>
+<p><strong>Configure runtime connection</strong> based on your hosting mode:</p>
+<p><strong>If using HTTP client</strong> (<code>npm run dev-server</code>):</p>
+<ul>
+<li>Direct: <code>ws://&lt;server-ip&gt;:49100</code></li>
+<li>Proxied: <code>wss://&lt;server-ip&gt;:48322</code></li>
+</ul>
+<p><strong>If using HTTPS client</strong> (<code>npm run dev-server:https</code>):</p>
+<ul>
+<li>Proxied: <code>wss://&lt;server-ip&gt;:48322</code> (required)</li>
+</ul>
+</li>
+<li>
+<p><strong>Grant permissions</strong>:</p>
+<ul>
+<li>Click <code>CONNECT</code></li>
+<li>Allow WebXR permissions when prompted</li>
+</ul>
+</li>
+</ol>
+<a id="application-specific-configuration" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Application-Specific Configuration<a href="#application-specific-configuration" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>Before connecting, verify your Isaac Lab server is ready:</p>
+<ul>
+<li>CloudXR Runtime is running</li>
+<li>Isaac Lab is running with the desired task</li>
+<li>Isaac Lab is using <code>System OpenXR Runtime</code></li>
+<li>Isaac Lab is in AR mode (<code>Start AR</code> button pressed)</li>
+</ul>
+<p>Configure the following application settings in the client web page's <strong>Debug Settings</strong> section:</p>
+<table>
+<thead>
+<tr>
+<th>Setting</th>
+<th>Recommended Value</th>
+<th>Notes</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td>Preferred Reference Space</td>
+<td><code>local</code></td>
+<td>Required for proper tracking</td>
+</tr>
+<tr>
+<td>X Offset (cm)</td>
+<td><code>0</code></td>
+<td>Horizontal positioning</td>
+</tr>
+<tr>
+<td>Y Offset (cm)</td>
+<td><code>-155</code></td>
+<td>Vertical positioning</td>
+</tr>
+<tr>
+<td>Z Offset (cm)</td>
+<td><code>10</code></td>
+<td>Depth positioning</td>
+</tr>
+<tr>
+<td>Teleoperation Countdown Duration (s)</td>
+<td>User preference</td>
+<td>Time before recording starts (optional)</td>
+</tr>
+</tbody>
+</table>
+<blockquote>
+<p><strong>Note</strong>: Offset values are task-dependent. Adjust based on robot height and workspace as needed.</p>
+</blockquote>
+<a id="how-to-use" class="tsd-anchor"></a><h3 class="tsd-anchor-link">How to use<a href="#how-to-use" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>Once streaming starts, you will see a window to your right with teleoperation controls:</p>
+<p><img src="../media/react-isaac-sample-controls-start.jpg" alt="Isaac Teleoperation Buttons"></p>
+<ul>
+<li><code>Countdown</code> - you can use the <code>-</code> (minus) and <code>+</code> (plus) buttons to adjust the countdown timer for starting teleoperation.</li>
+<li><code>Play</code> - this will start the countdown. Once countdown is finished, the teleoperation session recording starts.</li>
+<li><code>Reset</code> - this will both <strong>stop and reset</strong> the teleoperation session. After pressing this you can press <code>Play</code> to continue teleoperation (following the countdown timer).</li>
+<li><code>Disconnect</code> - this will exit the whole streaming and WebXR session</li>
+</ul>
+<p>To start teleoperating, click <code>Play</code>. It will start counting down in seconds as configured.</p>
+<p><img src="../media/react-isaac-sample-controls-countdown.jpg" alt="Isaac Teleoperation Countdown"></p>
+<p>During the countdown, position your hands at the right place and wait for recording to start.</p>
+<p>Whenever you complete a task, it will automatically start a new recording and generate the recording file.</p>
+<p><img src="../media/react-isaac-sample-controls-running.jpg" alt="Isaac Teleoperation Running"></p>
+<p>To stop teleoperating and reset the position of robot arm, click the <code>Reset</code> button.</p>
+<a id="next" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Next<a href="#next" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p><a href="Show_Cases.Isaac_Lab_Teleop.Isaac_Lab_Teleop_Troubleshooting.html">Troubleshooting Isaac Lab Teleoperation using CloudXR.js</a></p>
+<a id="previous" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Previous<a href="#previous" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p><a href="Show_Cases.Isaac_Lab_Teleop.Setting_Up_Server_for_Teleoperation.html">Running Isaac Lab with the CloudXR Runtime</a></p>
+</div></div><div class="col-sidebar"><div class="page-menu"><div class="tsd-navigation settings"><details class="tsd-accordion"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>Settings</h3></summary><div class="tsd-accordion-details"><div class="tsd-filter-visibility"><span class="settings-label">Member Visibility</span><ul id="tsd-filter-options"><li class="tsd-filter-item"><label class="tsd-filter-input"><input type="checkbox" id="tsd-filter-inherited" name="inherited" checked/><svg width="32" height="32" viewBox="0 0 32 32" aria-hidden="true"><rect class="tsd-checkbox-background" width="30" height="30" x="1" y="1" rx="6" fill="none"></rect><path class="tsd-checkbox-checkmark" d="M8.35422 16.8214L13.2143 21.75L24.6458 10.25" stroke="none" stroke-width="3.5" stroke-linejoin="round" fill="none"></path></svg><span>Inherited</span></label></li></ul></div><div class="tsd-theme-toggle"><label class="settings-label" for="tsd-theme">Theme</label><select id="tsd-theme"><option value="os">OS</option><option value="light">Light</option><option value="dark">Dark</option></select></div></div></details></div><details open class="tsd-accordion tsd-page-navigation"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>On This Page</h3></summary><div class="tsd-accordion-details"><a href="#teleoperating-on-meta-quest-3"><span>Teleoperating on <wbr/>Meta <wbr/>Quest 3</span></a><ul><li><a href="#prerequisites"><span>Prerequisites</span></a></li><li><a href="#🔨-build-client-and-host-web-server"><span>🔨 <wbr/>Build <wbr/>Client and <wbr/>Host <wbr/>Web <wbr/>Server</span></a></li><li><ul><li><a href="#1-navigate-to-example-directory"><span>1. <wbr/>Navigate to <wbr/>Example <wbr/>Directory</span></a></li><li><a href="#2-install-dependencies"><span>2. <wbr/>Install <wbr/>Dependencies</span></a></li><li><a href="#3-choose-hosting-mode"><span>3. <wbr/>Choose <wbr/>Hosting <wbr/>Mode</span></a></li></ul></li><li><a href="#🖥️-test-from-the-same-computer-optional-but-recommended"><span>🖥️ <wbr/>Test from the <wbr/>Same <wbr/>Computer (<wbr/>Optional but <wbr/>Recommended)</span></a></li><li><a href="#🥽-test-from-meta-quest-3"><span>🥽 <wbr/>Test from <wbr/>Meta <wbr/>Quest 3</span></a></li><li><ul><li><a href="#prerequisites-1"><span>Prerequisites</span></a></li><li><a href="#connection-configuration"><span>Connection <wbr/>Configuration</span></a></li><li><a href="#application-specific-configuration"><span>Application-<wbr/>Specific <wbr/>Configuration</span></a></li><li><a href="#how-to-use"><span>How to use</span></a></li></ul></li><li><a href="#next"><span>Next</span></a></li><li><a href="#previous"><span>Previous</span></a></li></ul></div></details></div><div class="site-menu"><nav class="tsd-navigation"><a href="../modules.html">CloudXR.js SDK Documentation - v6.0.0-beta</a><ul class="tsd-small-nested-navigation" id="tsd-nav-container"><li>Loading...</li></ul></nav></div></div></div><footer><p class="tsd-generator">Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></footer><div class="overlay"></div></body></html>
--- a/deps/cloudxr/docs/documents/Show_Cases.Isaac_Lab_Teleop.html
+++ b/deps/cloudxr/docs/documents/Show_Cases.Isaac_Lab_Teleop.html
@@ -0,0 +1,33 @@
+<!DOCTYPE html><html class="default" lang="en" data-base=".."><head><meta charset="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>Isaac Lab Teleop | CloudXR.js SDK Documentation - v6.0.0-beta</title><meta name="description" content="Documentation for CloudXR.js SDK Documentation"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script defer src="../assets/main.js"></script><script async src="../assets/icons.js" id="tsd-icons-script"></script><script async src="../assets/search.js" id="tsd-search-script"></script><script async src="../assets/navigation.js" id="tsd-nav-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os";document.body.style.display="none";setTimeout(() => app?app.showPage():document.body.style.removeProperty("display"),500)</script><header class="tsd-page-toolbar"><div class="tsd-toolbar-contents container"><div class="table-cell" id="tsd-search"><div class="field"><label for="tsd-search-field" class="tsd-widget tsd-toolbar-icon search no-caption"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-search"></use></svg></label><input type="text" id="tsd-search-field" aria-label="Search"/></div><div class="field"><div id="tsd-toolbar-links"></div></div><ul class="results"><li class="state loading">Preparing search index...</li><li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">CloudXR.js SDK Documentation - v6.0.0-beta</a></div><div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-menu"></use></svg></a></div></div></header><div class="container container-main"><div class="col-content"><div class="tsd-page-title"><ul class="tsd-breadcrumb"><li><a href="../modules.html">CloudXR.js SDK Documentation</a></li><li><a href="Show_Cases.html">Show Cases</a></li><li><a href="Show_Cases.Isaac_Lab_Teleop.html">Isaac Lab Teleop</a></li></ul></div><div class="tsd-panel tsd-typography"><a id="running-isaac-lab-teleoperation-on-meta-quest-3" class="tsd-anchor"></a><h1 class="tsd-anchor-link">Running Isaac Lab Teleoperation on Meta Quest 3<a href="#running-isaac-lab-teleoperation-on-meta-quest-3" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h1><p>NVIDIA CloudXR enables seamless, high-fidelity immersive streaming to extended reality (XR) devices over the network. Developers can use CloudXR with NVIDIA Isaac Lab to build teleoperation workflows that require immersive XR rendering for increased spatial acuity and hand tracking for teleoperation of dexterous robots.</p>
+<p>In these workflows, a compatible XR system captures operator head and hand motion. CloudXR sends this data to Isaac Lab, which renders and submits stereo views of the robot simulation to CloudXR. CloudXR then encodes and streams the rendered views back to the XR system for display in realtime using a low-latency, GPU-accelerated pipeline.</p>
+<p>This guide provides the Isaac Lab-specific details referenced in the First Run Guide, including installation, CloudXR Runtime configuration, and teleoperation settings.</p>
+<a id="system-requirements" class="tsd-anchor"></a><h2 class="tsd-anchor-link">System Requirements<a href="#system-requirements" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>Prior to using CloudXR with Isaac Lab, please review the following system requirements:</p>
+<a id="🖥️-isaac-lab-workstation" class="tsd-anchor"></a><h3 class="tsd-anchor-link">🖥️ <strong>Isaac Lab Workstation</strong><a href="#🖥️-isaac-lab-workstation" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><ul>
+<li>Ubuntu 22.04 or Ubuntu 24.04
+<ul>
+<li><a href="https://docs.docker.com/engine/install/ubuntu/#installation-methods">Docker</a> 26.0.0+, <a href="https://docs.docker.com/compose/install/linux/#install-using-the-repository">Docker Compose</a> 2.25.0+, and the <a href="https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html">NVIDIA Container Toolkit</a>. Refer to the <a href="https://isaac-sim.github.io/IsaacLab/main/source/deployment/docker.html#deployment-docker">Isaac Lab Docker Guide</a> for how to install.</li>
+<li>For details on driver requirements, please see the <a href="https://docs.omniverse.nvidia.com/materials-and-rendering/latest/common/technical-requirements.html">Technical Requirements</a> guide</li>
+<li>Follow the <a href="https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html#local-installation">Isaac Lab installation guide</a> to install Isaac Sim and Isaac Lab.</li>
+<li>Required for best performance: 16 cores Intel Core i9, X-series or higher AMD Ryzen 9, Threadripper or higher</li>
+<li>Required for best performance: 64GB RAM</li>
+<li>Required for best performance: 2x RTX PRO 6000 GPUs (or equivalent e.g. 2x RTX 5090)</li>
+</ul>
+</li>
+</ul>
+<a id="🥽-meta-quest-3" class="tsd-anchor"></a><h3 class="tsd-anchor-link">🥽 <strong>Meta Quest 3</strong><a href="#🥽-meta-quest-3" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>Meta Quest 3 (OS version 79 or later).</p>
+<a id="🌐-wifi-6-capable-router" class="tsd-anchor"></a><h3 class="tsd-anchor-link">🌐 <strong>WiFi 6 Capable Router</strong><a href="#🌐-wifi-6-capable-router" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><ul>
+<li>A strong wireless connection is essential for a high-quality streaming experience. Refer to the requirements of <a href="Networking_Setup.html">Networking Setup</a> for more details.</li>
+<li>We recommend using a dedicated router, as concurrent usage will degrade quality</li>
+<li>The Meta Quest 3 and Isaac Lab workstation must be IP-reachable from one another
+<ul>
+<li>Many institutional wireless networks will prevent devices from reaching each other, resulting in the Meta Quest 3 being unable to find the Isaac Lab workstation on the network</li>
+<li>See <a href="Networking_Setup.html">Networking Setup</a> guide for more details</li>
+</ul>
+</li>
+</ul>
+<a id="next" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Next<a href="#next" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><ol>
+<li><a href="Show_Cases.Isaac_Lab_Teleop.Setting_Up_Server_for_Teleoperation.html">Running Isaac Lab with the CloudXR Runtime</a></li>
+<li><a href="Show_Cases.Isaac_Lab_Teleop.Teleoperating_on_Meta_Quest_3.html">Running Teleop Client on Meta Quest 3</a></li>
+</ol>
+<p>If you encounter issues, please see <a href="Show_Cases.Isaac_Lab_Teleop.Isaac_Lab_Teleop_Troubleshooting.html">Troubleshooting</a>.</p>
+</div></div><div class="col-sidebar"><div class="page-menu"><div class="tsd-navigation settings"><details class="tsd-accordion"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>Settings</h3></summary><div class="tsd-accordion-details"><div class="tsd-filter-visibility"><span class="settings-label">Member Visibility</span><ul id="tsd-filter-options"><li class="tsd-filter-item"><label class="tsd-filter-input"><input type="checkbox" id="tsd-filter-inherited" name="inherited" checked/><svg width="32" height="32" viewBox="0 0 32 32" aria-hidden="true"><rect class="tsd-checkbox-background" width="30" height="30" x="1" y="1" rx="6" fill="none"></rect><path class="tsd-checkbox-checkmark" d="M8.35422 16.8214L13.2143 21.75L24.6458 10.25" stroke="none" stroke-width="3.5" stroke-linejoin="round" fill="none"></path></svg><span>Inherited</span></label></li></ul></div><div class="tsd-theme-toggle"><label class="settings-label" for="tsd-theme">Theme</label><select id="tsd-theme"><option value="os">OS</option><option value="light">Light</option><option value="dark">Dark</option></select></div></div></details></div><details open class="tsd-accordion tsd-page-navigation"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>On This Page</h3></summary><div class="tsd-accordion-details"><a href="#running-isaac-lab-teleoperation-on-meta-quest-3"><span>Running <wbr/>Isaac <wbr/>Lab <wbr/>Teleoperation on <wbr/>Meta <wbr/>Quest 3</span></a><ul><li><a href="#system-requirements"><span>System <wbr/>Requirements</span></a></li><li><ul><li><a href="#🖥️-isaac-lab-workstation"><span>🖥️ <wbr/>Isaac <wbr/>Lab <wbr/>Workstation</span></a></li><li><a href="#🥽-meta-quest-3"><span>🥽 <wbr/>Meta <wbr/>Quest 3</span></a></li><li><a href="#🌐-wifi-6-capable-router"><span>🌐 <wbr/>Wi<wbr/>Fi 6 <wbr/>Capable <wbr/>Router</span></a></li></ul></li><li><a href="#next"><span>Next</span></a></li></ul></div></details></div><div class="site-menu"><nav class="tsd-navigation"><a href="../modules.html">CloudXR.js SDK Documentation - v6.0.0-beta</a><ul class="tsd-small-nested-navigation" id="tsd-nav-container"><li>Loading...</li></ul></nav></div></div></div><footer><p class="tsd-generator">Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></footer><div class="overlay"></div></body></html>
--- a/deps/cloudxr/docs/documents/Show_Cases.html
+++ b/deps/cloudxr/docs/documents/Show_Cases.html
@@ -0,0 +1,4 @@
+<!DOCTYPE html><html class="default" lang="en" data-base=".."><head><meta charset="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>Show Cases | CloudXR.js SDK Documentation - v6.0.0-beta</title><meta name="description" content="Documentation for CloudXR.js SDK Documentation"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script defer src="../assets/main.js"></script><script async src="../assets/icons.js" id="tsd-icons-script"></script><script async src="../assets/search.js" id="tsd-search-script"></script><script async src="../assets/navigation.js" id="tsd-nav-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os";document.body.style.display="none";setTimeout(() => app?app.showPage():document.body.style.removeProperty("display"),500)</script><header class="tsd-page-toolbar"><div class="tsd-toolbar-contents container"><div class="table-cell" id="tsd-search"><div class="field"><label for="tsd-search-field" class="tsd-widget tsd-toolbar-icon search no-caption"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-search"></use></svg></label><input type="text" id="tsd-search-field" aria-label="Search"/></div><div class="field"><div id="tsd-toolbar-links"></div></div><ul class="results"><li class="state loading">Preparing search index...</li><li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">CloudXR.js SDK Documentation - v6.0.0-beta</a></div><div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-menu"></use></svg></a></div></div></header><div class="container container-main"><div class="col-content"><div class="tsd-page-title"><ul class="tsd-breadcrumb"><li><a href="../modules.html">CloudXR.js SDK Documentation</a></li><li><a href="Show_Cases.html">Show Cases</a></li></ul></div><div class="tsd-panel tsd-typography"><a id="show-cases" class="tsd-anchor"></a><h1 class="tsd-anchor-link">Show Cases<a href="#show-cases" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h1><ul>
+<li><a href="Show_Cases.Isaac_Lab_Teleop.html">Running Isaac Lab Teleoperation on Meta Quest 3</a></li>
+</ul>
+</div></div><div class="col-sidebar"><div class="page-menu"><div class="tsd-navigation settings"><details class="tsd-accordion"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>Settings</h3></summary><div class="tsd-accordion-details"><div class="tsd-filter-visibility"><span class="settings-label">Member Visibility</span><ul id="tsd-filter-options"><li class="tsd-filter-item"><label class="tsd-filter-input"><input type="checkbox" id="tsd-filter-inherited" name="inherited" checked/><svg width="32" height="32" viewBox="0 0 32 32" aria-hidden="true"><rect class="tsd-checkbox-background" width="30" height="30" x="1" y="1" rx="6" fill="none"></rect><path class="tsd-checkbox-checkmark" d="M8.35422 16.8214L13.2143 21.75L24.6458 10.25" stroke="none" stroke-width="3.5" stroke-linejoin="round" fill="none"></path></svg><span>Inherited</span></label></li></ul></div><div class="tsd-theme-toggle"><label class="settings-label" for="tsd-theme">Theme</label><select id="tsd-theme"><option value="os">OS</option><option value="light">Light</option><option value="dark">Dark</option></select></div></div></details></div><details open class="tsd-accordion tsd-page-navigation"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>On This Page</h3></summary><div class="tsd-accordion-details"><a href="#show-cases"><span>Show <wbr/>Cases</span></a></div></details></div><div class="site-menu"><nav class="tsd-navigation"><a href="../modules.html">CloudXR.js SDK Documentation - v6.0.0-beta</a><ul class="tsd-small-nested-navigation" id="tsd-nav-container"><li>Loading...</li></ul></nav></div></div></div><footer><p class="tsd-generator">Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></footer><div class="overlay"></div></body></html>
--- a/deps/cloudxr/docs/documents/Telemetry.html
+++ b/deps/cloudxr/docs/documents/Telemetry.html
@@ -0,0 +1,40 @@
+<!DOCTYPE html><html class="default" lang="en" data-base=".."><head><meta charset="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>Telemetry | CloudXR.js SDK Documentation - v6.0.0-beta</title><meta name="description" content="Documentation for CloudXR.js SDK Documentation"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script defer src="../assets/main.js"></script><script async src="../assets/icons.js" id="tsd-icons-script"></script><script async src="../assets/search.js" id="tsd-search-script"></script><script async src="../assets/navigation.js" id="tsd-nav-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os";document.body.style.display="none";setTimeout(() => app?app.showPage():document.body.style.removeProperty("display"),500)</script><header class="tsd-page-toolbar"><div class="tsd-toolbar-contents container"><div class="table-cell" id="tsd-search"><div class="field"><label for="tsd-search-field" class="tsd-widget tsd-toolbar-icon search no-caption"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-search"></use></svg></label><input type="text" id="tsd-search-field" aria-label="Search"/></div><div class="field"><div id="tsd-toolbar-links"></div></div><ul class="results"><li class="state loading">Preparing search index...</li><li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">CloudXR.js SDK Documentation - v6.0.0-beta</a></div><div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-menu"></use></svg></a></div></div></header><div class="container container-main"><div class="col-content"><div class="tsd-page-title"><ul class="tsd-breadcrumb"><li><a href="../modules.html">CloudXR.js SDK Documentation</a></li><li><a href="Telemetry.html">Telemetry</a></li></ul></div><div class="tsd-panel tsd-typography"><a id="telemetry" class="tsd-anchor"></a><h1 class="tsd-anchor-link">Telemetry<a href="#telemetry" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h1><p>Anonymous collection of system performance data to enhance service quality.</p>
+<a id="overview" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Overview<a href="#overview" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>We collect the following functional events:</p>
+<ul>
+<li>
+<p><code>CXR_LifetimeEvent</code>: Tracks events when a <code>CloudXRSession</code> is created and destroyed.</p>
+</li>
+<li>
+<p><code>CXR_SessionConfiguration</code>: Gathers session initialization metadata such as resolution used to initialize a <code>CloudXRSession</code>.</p>
+</li>
+<li>
+<p><code>CXR_SessionState</code>: Monitors changes in the <code>SessionState</code>.</p>
+</li>
+<li>
+<p><code>CXR_ExceptionInfo</code>: Records exceptions, occurring within a <code>CloudXRSession</code>.</p>
+</li>
+<li>
+<p><code>CXR_ClientRequest</code>: Records the action when the client sends a message to server.</p>
+</li>
+<li>
+<p><code>CXR_ServerResponse</code>: Records the action when the server responds to client requests.</p>
+</li>
+<li>
+<p><code>CXR_ClientMetricEvent</code>: Records performance metrics for <code>CloudXRSession</code>, such as session duration, frame counts, and message statistics.</p>
+</li>
+</ul>
+<p>Data is collected exclusively for service purposes, without capturing any persistent IDs or personal information, and it is not associated with any specific user or device. To opt out of telemetry data collection, disable telemetry in the session configuration.</p>
+<a id="configuration" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Configuration<a href="#configuration" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>Telemetry can be configured when creating a CloudXR session:</p>
+<pre><code class="typescript"><span class="hl-9">import</span><span class="hl-1"> </span><span class="hl-6">*</span><span class="hl-1"> </span><span class="hl-9">as</span><span class="hl-1"> </span><span class="hl-4">CloudXR</span><span class="hl-1"> </span><span class="hl-9">from</span><span class="hl-1"> </span><span class="hl-2">&#39;@nvidia/cloudxr&#39;</span><span class="hl-1">;</span><br/><br/><span class="hl-6">const</span><span class="hl-1"> </span><span class="hl-5">session</span><span class="hl-1"> = </span><span class="hl-4">CloudXR</span><span class="hl-1">.</span><span class="hl-0">createSession</span><span class="hl-1">({</span><br/><span class="hl-1">  </span><span class="hl-3">// ... other session options</span><br/><span class="hl-1">  </span><span class="hl-4">telemetry:</span><span class="hl-1"> {</span><br/><span class="hl-1">    </span><span class="hl-4">enabled:</span><span class="hl-1"> </span><span class="hl-6">true</span><span class="hl-1">, </span><span class="hl-3">// Enable telemetry collection (default: true)</span><br/><span class="hl-1">    </span><span class="hl-4">appInfo:</span><span class="hl-1"> {</span><br/><span class="hl-1">      </span><span class="hl-4">product:</span><span class="hl-1"> </span><span class="hl-2">&#39;My CloudXR App&#39;</span><span class="hl-1">,</span><br/><span class="hl-1">      </span><span class="hl-4">version:</span><span class="hl-1"> </span><span class="hl-2">&#39;1.0.0&#39;</span><br/><span class="hl-1">    }</span><br/><span class="hl-1">  }</span><br/><span class="hl-1">});</span>
+</code><button type="button">Copy</button></pre>
+
+<a id="telemetry-options" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Telemetry Options<a href="#telemetry-options" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><ul>
+<li><code>enabled</code>: Boolean flag to enable/disable telemetry collection. Defaults to <code>true</code>.</li>
+<li><code>appInfo</code>: Optional application information object containing:
+<ul>
+<li><code>product</code>: Product name (e.g., &quot;MyApp&quot;)</li>
+<li><code>version</code>: Application version (e.g., &quot;1.0.0&quot;)</li>
+</ul>
+</li>
+</ul>
+</div></div><div class="col-sidebar"><div class="page-menu"><div class="tsd-navigation settings"><details class="tsd-accordion"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>Settings</h3></summary><div class="tsd-accordion-details"><div class="tsd-filter-visibility"><span class="settings-label">Member Visibility</span><ul id="tsd-filter-options"><li class="tsd-filter-item"><label class="tsd-filter-input"><input type="checkbox" id="tsd-filter-inherited" name="inherited" checked/><svg width="32" height="32" viewBox="0 0 32 32" aria-hidden="true"><rect class="tsd-checkbox-background" width="30" height="30" x="1" y="1" rx="6" fill="none"></rect><path class="tsd-checkbox-checkmark" d="M8.35422 16.8214L13.2143 21.75L24.6458 10.25" stroke="none" stroke-width="3.5" stroke-linejoin="round" fill="none"></path></svg><span>Inherited</span></label></li></ul></div><div class="tsd-theme-toggle"><label class="settings-label" for="tsd-theme">Theme</label><select id="tsd-theme"><option value="os">OS</option><option value="light">Light</option><option value="dark">Dark</option></select></div></div></details></div><details open class="tsd-accordion tsd-page-navigation"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>On This Page</h3></summary><div class="tsd-accordion-details"><a href="#telemetry"><span>Telemetry</span></a><ul><li><a href="#overview"><span>Overview</span></a></li><li><a href="#configuration"><span>Configuration</span></a></li><li><ul><li><a href="#telemetry-options"><span>Telemetry <wbr/>Options</span></a></li></ul></li></ul></div></details></div><div class="site-menu"><nav class="tsd-navigation"><a href="../modules.html">CloudXR.js SDK Documentation - v6.0.0-beta</a><ul class="tsd-small-nested-navigation" id="tsd-nav-container"><li>Loading...</li></ul></nav></div></div></div><footer><p class="tsd-generator">Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></footer><div class="overlay"></div></body></html>
--- a/deps/cloudxr/docs/documents/Troubleshooting.html
+++ b/deps/cloudxr/docs/documents/Troubleshooting.html
@@ -0,0 +1,56 @@
+<!DOCTYPE html><html class="default" lang="en" data-base=".."><head><meta charset="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>Troubleshooting | CloudXR.js SDK Documentation - v6.0.0-beta</title><meta name="description" content="Documentation for CloudXR.js SDK Documentation"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script defer src="../assets/main.js"></script><script async src="../assets/icons.js" id="tsd-icons-script"></script><script async src="../assets/search.js" id="tsd-search-script"></script><script async src="../assets/navigation.js" id="tsd-nav-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os";document.body.style.display="none";setTimeout(() => app?app.showPage():document.body.style.removeProperty("display"),500)</script><header class="tsd-page-toolbar"><div class="tsd-toolbar-contents container"><div class="table-cell" id="tsd-search"><div class="field"><label for="tsd-search-field" class="tsd-widget tsd-toolbar-icon search no-caption"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-search"></use></svg></label><input type="text" id="tsd-search-field" aria-label="Search"/></div><div class="field"><div id="tsd-toolbar-links"></div></div><ul class="results"><li class="state loading">Preparing search index...</li><li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">CloudXR.js SDK Documentation - v6.0.0-beta</a></div><div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-menu"></use></svg></a></div></div></header><div class="container container-main"><div class="col-content"><div class="tsd-page-title"><ul class="tsd-breadcrumb"><li><a href="../modules.html">CloudXR.js SDK Documentation</a></li><li><a href="Troubleshooting.html">Troubleshooting</a></li></ul></div><div class="tsd-panel tsd-typography"><a id="troubleshooting" class="tsd-anchor"></a><h1 class="tsd-anchor-link">Troubleshooting<a href="#troubleshooting" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h1><p>This guide helps you diagnose and resolve common issues when using CloudXR.js for WebXR streaming.</p>
+<a id="common-issues" class="tsd-anchor"></a><h2 class="tsd-anchor-link">Common Issues<a href="#common-issues" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><a id="i-got-a-blank-page-when-opening-the-url-or-it-streams-2d-only-in-browser" class="tsd-anchor"></a><h3 class="tsd-anchor-link">I got a blank page when opening the URL or it streams 2D only in browser<a href="#i-got-a-blank-page-when-opening-the-url-or-it-streams-2d-only-in-browser" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p><strong>For HTTP Mode:</strong></p>
+<p>If you're using HTTP mode (<code>http://</code>), you need to configure the Chromium browser to allow WebXR usage from insecure origins:</p>
+<ul>
+<li>Open Meta Quest 3 Browser or desktop Google Chrome</li>
+<li>Navigate to <code>chrome://flags</code></li>
+<li>Search for &quot;insecure&quot;, and locate &quot;Treat insecure origins as secure&quot;</li>
+<li><em>Enable the flag</em></li>
+<li>Then in the text box below the flag, add your development web server
+<ul>
+<li>You <em>must</em> include the protocol (<code>http</code>) and the port (<code>:8080</code>)</li>
+<li><code>http://your-ip-address:8080</code></li>
+</ul>
+</li>
+<li><em>De-focus the text box</em> by &quot;clicking somewhere else&quot;</li>
+<li>A &quot;Relaunch&quot; message should appear at the bottom of the window</li>
+<li>Click &quot;Relaunch&quot;</li>
+<li>Verify the flags are set as intended in <code>chrome://flags</code></li>
+</ul>
+<p><strong>For HTTPS Mode:</strong></p>
+<p>If you're using HTTPS mode (<code>https://</code>), you need to trust the SSL certificates:</p>
+<ul>
+<li>Navigate to your web server URL in the browser: <code>https://your-ip-address:8080</code></li>
+<li>Accept the certificate warning by clicking &quot;Advanced&quot; → &quot;Proceed to [your-ip-address] (unsafe)&quot;</li>
+<li>If using a WebSocket proxy, also trust its certificate by visiting: <code>https://your-proxy-ip:48322</code></li>
+</ul>
+<p>See the <a href="Client_Setup.html#trust-ssl-certificates-https-mode">Client Setup Guide</a> for detailed SSL certificate configuration.</p>
+<a id="handtracking-is-not-responsive-when-i-start-the-webxr-session" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Handtracking is not responsive when I start the WebXR session<a href="#handtracking-is-not-responsive-when-i-start-the-webxr-session" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>You could pause the session by clicking the MENU button and resume the WebXR session.
+If the behavior persists, we advise to restart your Meta headset to clear up caches.</p>
+<a id="connection-issues" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Connection Issues<a href="#connection-issues" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><p>You might see an error with an error code (shown in hexadecimal format like <code>0xC0F22202</code>). In most cases, they are because of the following reasons:</p>
+<ul>
+<li>Verify the server address and port are correct</li>
+<li>Check network connectivity between client and server</li>
+<li>Ensure the CloudXR runtime is running on the server</li>
+<li>Verify firewall rules allow traffic</li>
+<li>Ensure UDP ports are not blocked</li>
+<li>Check for high network latency or packet loss</li>
+<li>Verify stable network connection (check for Wi-Fi disconnections)</li>
+<li>Test network quality (ping, bandwidth, packet loss)</li>
+<li>Ensure WebRTC is not blocked by browser settings or extensions</li>
+<li>Review network topology (double NAT, symmetric NAT issues)</li>
+<li>Setup TURN relay server if direct connection fails</li>
+<li>Check server configuration and logs</li>
+<li>Restart the CloudXR runtime if necessary</li>
+</ul>
+<p>For most issues, you can consult the <a href="Networking_Setup.html">Networking Setup Guide</a> for detailed configuration instructions and the issue should resolve.</p>
+<a id="❓-getting-help" class="tsd-anchor"></a><h2 class="tsd-anchor-link">❓ Getting Help<a href="#❓-getting-help" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h2><p>If you're still experiencing issues:</p>
+<ol>
+<li><strong>Check the console</strong> for error messages</li>
+<li>Test with <strong>different browsers</strong></li>
+<li>Verify <strong>server configuration and logs</strong></li>
+<li>Check <strong>network conditions</strong> and requirements</li>
+<li>Review <strong>the <a href="Session_API.html">Session API</a></strong> documentation</li>
+</ol>
+<p>For additional support, please reach out to NVIDIA CloudXR team.</p>
+</div></div><div class="col-sidebar"><div class="page-menu"><div class="tsd-navigation settings"><details class="tsd-accordion"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>Settings</h3></summary><div class="tsd-accordion-details"><div class="tsd-filter-visibility"><span class="settings-label">Member Visibility</span><ul id="tsd-filter-options"><li class="tsd-filter-item"><label class="tsd-filter-input"><input type="checkbox" id="tsd-filter-inherited" name="inherited" checked/><svg width="32" height="32" viewBox="0 0 32 32" aria-hidden="true"><rect class="tsd-checkbox-background" width="30" height="30" x="1" y="1" rx="6" fill="none"></rect><path class="tsd-checkbox-checkmark" d="M8.35422 16.8214L13.2143 21.75L24.6458 10.25" stroke="none" stroke-width="3.5" stroke-linejoin="round" fill="none"></path></svg><span>Inherited</span></label></li></ul></div><div class="tsd-theme-toggle"><label class="settings-label" for="tsd-theme">Theme</label><select id="tsd-theme"><option value="os">OS</option><option value="light">Light</option><option value="dark">Dark</option></select></div></div></details></div><details open class="tsd-accordion tsd-page-navigation"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>On This Page</h3></summary><div class="tsd-accordion-details"><a href="#troubleshooting"><span>Troubleshooting</span></a><ul><li><a href="#common-issues"><span>Common <wbr/>Issues</span></a></li><li><ul><li><a href="#i-got-a-blank-page-when-opening-the-url-or-it-streams-2d-only-in-browser"><span>I got a blank page when opening the URL or it streams 2<wbr/>D only in browser</span></a></li><li><a href="#handtracking-is-not-responsive-when-i-start-the-webxr-session"><span>Handtracking is not responsive when <wbr/>I start the <wbr/>WebXR session</span></a></li><li><a href="#connection-issues"><span>Connection <wbr/>Issues</span></a></li></ul></li><li><a href="#❓-getting-help"><span>❓ <wbr/>Getting <wbr/>Help</span></a></li></ul></div></details></div><div class="site-menu"><nav class="tsd-navigation"><a href="../modules.html">CloudXR.js SDK Documentation - v6.0.0-beta</a><ul class="tsd-small-nested-navigation" id="tsd-nav-container"><li>Loading...</li></ul></nav></div></div></div><footer><p class="tsd-generator">Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></footer><div class="overlay"></div></body></html>
--- a/deps/cloudxr/docs/enums/CloudXR.SessionState.html
+++ b/deps/cloudxr/docs/enums/CloudXR.SessionState.html
@@ -0,0 +1,33 @@
+<!DOCTYPE html><html class="default" lang="en" data-base=".."><head><meta charset="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>SessionState | CloudXR.js SDK Documentation - v6.0.0-beta</title><meta name="description" content="Documentation for CloudXR.js SDK Documentation"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script defer src="../assets/main.js"></script><script async src="../assets/icons.js" id="tsd-icons-script"></script><script async src="../assets/search.js" id="tsd-search-script"></script><script async src="../assets/navigation.js" id="tsd-nav-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os";document.body.style.display="none";setTimeout(() => app?app.showPage():document.body.style.removeProperty("display"),500)</script><header class="tsd-page-toolbar"><div class="tsd-toolbar-contents container"><div class="table-cell" id="tsd-search"><div class="field"><label for="tsd-search-field" class="tsd-widget tsd-toolbar-icon search no-caption"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-search"></use></svg></label><input type="text" id="tsd-search-field" aria-label="Search"/></div><div class="field"><div id="tsd-toolbar-links"></div></div><ul class="results"><li class="state loading">Preparing search index...</li><li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">CloudXR.js SDK Documentation - v6.0.0-beta</a></div><div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-menu"></use></svg></a></div></div></header><div class="container container-main"><div class="col-content"><div class="tsd-page-title"><ul class="tsd-breadcrumb"><li><a href="../modules.html">CloudXR.js SDK Documentation</a></li><li><a href="../modules/CloudXR.html">CloudXR</a></li><li><a href="CloudXR.SessionState.html">SessionState</a></li></ul><h1>Enumeration SessionState</h1></div><section class="tsd-panel tsd-comment"><div class="tsd-comment tsd-typography"><p>Defines the states of a CloudXR streaming session.</p>
+<p>The session follows a well-defined lifecycle with distinct states and transitions:</p>
+<pre><code><span class="hl-4">Initialized</span><span class="hl-1"> → </span><span class="hl-4">Connecting</span><span class="hl-1"> → </span><span class="hl-4">Connected</span><span class="hl-1"> → </span><span class="hl-4">Disconnecting</span><span class="hl-1"> → </span><span class="hl-4">Disconnected</span>
+</code><button>Copy</button></pre>
+
+</div><div class="tsd-comment tsd-typography"><div class="tsd-tag-example"><h4 class="tsd-anchor-link"><a id="example" class="tsd-anchor"></a>Example<a href="#example" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><pre><code class="typescript"><span class="hl-3">// Check session state</span><br/><span class="hl-9">if</span><span class="hl-1"> (</span><span class="hl-4">session</span><span class="hl-1">.</span><span class="hl-4">state</span><span class="hl-1"> === </span><span class="hl-4">SessionState</span><span class="hl-1">.</span><span class="hl-4">Connected</span><span class="hl-1">) {</span><br/><span class="hl-1">  </span><span class="hl-4">console</span><span class="hl-1">.</span><span class="hl-0">info</span><span class="hl-1">(</span><span class="hl-2">&#39;Session is ready for rendering&#39;</span><span class="hl-1">);</span><br/><span class="hl-1">}</span>
+</code><button type="button">Copy</button></pre>
+
+</div></div></section><section class="tsd-panel-group tsd-index-group"><section class="tsd-panel tsd-index-panel"><details class="tsd-index-content tsd-accordion" open><summary class="tsd-accordion-summary tsd-index-summary"><h5 class="tsd-index-heading uppercase" role="button" aria-expanded="false" tabIndex="0"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronSmall"></use></svg> Index</h5></summary><div class="tsd-accordion-details"><section class="tsd-index-section"><h3 class="tsd-index-heading">Enumeration Members</h3><div class="tsd-index-list"><a href="CloudXR.SessionState.html#initialized" class="tsd-index-link"><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Enumeration Member"><use href="../assets/icons.svg#icon-16"></use></svg><span>Initialized</span></a>
+<a href="CloudXR.SessionState.html#connecting" class="tsd-index-link"><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Enumeration Member"><use href="../assets/icons.svg#icon-16"></use></svg><span>Connecting</span></a>
+<a href="CloudXR.SessionState.html#connected" class="tsd-index-link"><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Enumeration Member"><use href="../assets/icons.svg#icon-16"></use></svg><span>Connected</span></a>
+<a href="CloudXR.SessionState.html#disconnecting" class="tsd-index-link"><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Enumeration Member"><use href="../assets/icons.svg#icon-16"></use></svg><span>Disconnecting</span></a>
+<a href="CloudXR.SessionState.html#disconnected" class="tsd-index-link"><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Enumeration Member"><use href="../assets/icons.svg#icon-16"></use></svg><span>Disconnected</span></a>
+<a href="CloudXR.SessionState.html#error" class="tsd-index-link"><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Enumeration Member"><use href="../assets/icons.svg#icon-16"></use></svg><span>Error</span></a>
+</div></section></div></details></section></section><details class="tsd-panel-group tsd-member-group tsd-accordion" open><summary class="tsd-accordion-summary" data-key="section-Enumeration Members"><h2><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg> Enumeration Members</h2></summary><section><section class="tsd-panel tsd-member"><a id="initialized" class="tsd-anchor"></a><h3 class="tsd-anchor-link"><span>Initialized</span><a href="#initialized" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><div class="tsd-signature"><span class="tsd-kind-enum-member">Initialized</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">&quot;Initialized&quot;</span></div><div class="tsd-comment tsd-typography"><p>Initial state when the session is created but connect() has not been called.</p>
+<p>The session is ready to be configured and connected.
+No network activity or streaming occurs.</p>
+</div><div class="tsd-comment tsd-typography"></div></section><section class="tsd-panel tsd-member"><a id="connecting" class="tsd-anchor"></a><h3 class="tsd-anchor-link"><span>Connecting</span><a href="#connecting" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><div class="tsd-signature"><span class="tsd-kind-enum-member">Connecting</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">&quot;Connecting&quot;</span></div><div class="tsd-comment tsd-typography"><p>The session is attempting to establish a connection and start streaming.</p>
+<p>The session is actively trying to connect to the CloudXR Runtime.
+This state is temporary and transitions to either Connected or Error.</p>
+</div><div class="tsd-comment tsd-typography"></div></section><section class="tsd-panel tsd-member"><a id="connected" class="tsd-anchor"></a><h3 class="tsd-anchor-link"><span>Connected</span><a href="#connected" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><div class="tsd-signature"><span class="tsd-kind-enum-member">Connected</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">&quot;Connected&quot;</span></div><div class="tsd-comment tsd-typography"><p>The session is fully active and ready to render.</p>
+<p>Connection is established, video streaming is active, and WebGL resources are ready.
+This is the normal operational state for rendering CloudXR content.</p>
+</div><div class="tsd-comment tsd-typography"></div></section><section class="tsd-panel tsd-member"><a id="disconnecting" class="tsd-anchor"></a><h3 class="tsd-anchor-link"><span>Disconnecting</span><a href="#disconnecting" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><div class="tsd-signature"><span class="tsd-kind-enum-member">Disconnecting</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">&quot;Disconnecting&quot;</span></div><div class="tsd-comment tsd-typography"><p>The session is in the process of disconnecting from the CloudXR Runtime.</p>
+<p>The session is actively closing the connection and cleaning up resources.
+This state is temporary and transitions to Disconnected.</p>
+</div><div class="tsd-comment tsd-typography"></div></section><section class="tsd-panel tsd-member"><a id="disconnected" class="tsd-anchor"></a><h3 class="tsd-anchor-link"><span>Disconnected</span><a href="#disconnected" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><div class="tsd-signature"><span class="tsd-kind-enum-member">Disconnected</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">&quot;Disconnected&quot;</span></div><div class="tsd-comment tsd-typography"><p>The session has been disconnected and is ready to be reconnected.</p>
+<p>The session has been cleanly disconnected and can be reconnected
+by calling connect() again.</p>
+</div><div class="tsd-comment tsd-typography"></div></section><section class="tsd-panel tsd-member"><a id="error" class="tsd-anchor"></a><h3 class="tsd-anchor-link"><span>Error</span><a href="#error" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><div class="tsd-signature"><span class="tsd-kind-enum-member">Error</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">&quot;Error&quot;</span></div><div class="tsd-comment tsd-typography"><p>The session encountered a critical error and cannot continue.</p>
+<p>The session has encountered an unrecoverable error. Destroy and recreate
+the session to recover. Check error details in the onStreamStopped delegate callback.</p>
+</div><div class="tsd-comment tsd-typography"></div></section></section></details></div><div class="col-sidebar"><div class="page-menu"><div class="tsd-navigation settings"><details class="tsd-accordion"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>Settings</h3></summary><div class="tsd-accordion-details"><div class="tsd-filter-visibility"><span class="settings-label">Member Visibility</span><ul id="tsd-filter-options"><li class="tsd-filter-item"><label class="tsd-filter-input"><input type="checkbox" id="tsd-filter-inherited" name="inherited" checked/><svg width="32" height="32" viewBox="0 0 32 32" aria-hidden="true"><rect class="tsd-checkbox-background" width="30" height="30" x="1" y="1" rx="6" fill="none"></rect><path class="tsd-checkbox-checkmark" d="M8.35422 16.8214L13.2143 21.75L24.6458 10.25" stroke="none" stroke-width="3.5" stroke-linejoin="round" fill="none"></path></svg><span>Inherited</span></label></li></ul></div><div class="tsd-theme-toggle"><label class="settings-label" for="tsd-theme">Theme</label><select id="tsd-theme"><option value="os">OS</option><option value="light">Light</option><option value="dark">Dark</option></select></div></div></details></div><details open class="tsd-accordion tsd-page-navigation"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>On This Page</h3></summary><div class="tsd-accordion-details"><details open class="tsd-accordion tsd-page-navigation-section"><summary class="tsd-accordion-summary" data-key="section-Enumeration Members"><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>Enumeration Members</summary><div><a href="#initialized" class=""><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Enumeration Member"><use href="../assets/icons.svg#icon-16"></use></svg><span>Initialized</span></a><a href="#connecting" class=""><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Enumeration Member"><use href="../assets/icons.svg#icon-16"></use></svg><span>Connecting</span></a><a href="#connected" class=""><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Enumeration Member"><use href="../assets/icons.svg#icon-16"></use></svg><span>Connected</span></a><a href="#disconnecting" class=""><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Enumeration Member"><use href="../assets/icons.svg#icon-16"></use></svg><span>Disconnecting</span></a><a href="#disconnected" class=""><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Enumeration Member"><use href="../assets/icons.svg#icon-16"></use></svg><span>Disconnected</span></a><a href="#error" class=""><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Enumeration Member"><use href="../assets/icons.svg#icon-16"></use></svg><span>Error</span></a></div></details></div></details></div><div class="site-menu"><nav class="tsd-navigation"><a href="../modules.html">CloudXR.js SDK Documentation - v6.0.0-beta</a><ul class="tsd-small-nested-navigation" id="tsd-nav-container"><li>Loading...</li></ul></nav></div></div></div><footer><p class="tsd-generator">Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></footer><div class="overlay"></div></body></html>
--- a/deps/cloudxr/docs/functions/CloudXR.createSession.html
+++ b/deps/cloudxr/docs/functions/CloudXR.createSession.html
--- a/deps/cloudxr/docs/index.html
+++ b/deps/cloudxr/docs/index.html
@@ -0,0 +1,32 @@
+<!DOCTYPE html><html class="default" lang="en" data-base="."><head><meta charset="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>CloudXR.js SDK Documentation - v6.0.0-beta</title><meta name="description" content="Documentation for CloudXR.js SDK Documentation"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="assets/style.css"/><link rel="stylesheet" href="assets/highlight.css"/><script defer src="assets/main.js"></script><script async src="assets/icons.js" id="tsd-icons-script"></script><script async src="assets/search.js" id="tsd-search-script"></script><script async src="assets/navigation.js" id="tsd-nav-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os";document.body.style.display="none";setTimeout(() => app?app.showPage():document.body.style.removeProperty("display"),500)</script><header class="tsd-page-toolbar"><div class="tsd-toolbar-contents container"><div class="table-cell" id="tsd-search"><div class="field"><label for="tsd-search-field" class="tsd-widget tsd-toolbar-icon search no-caption"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="assets/icons.svg#icon-search"></use></svg></label><input type="text" id="tsd-search-field" aria-label="Search"/></div><div class="field"><div id="tsd-toolbar-links"></div></div><ul class="results"><li class="state loading">Preparing search index...</li><li class="state failure">The search index is not available</li></ul><a href="index.html" class="title">CloudXR.js SDK Documentation - v6.0.0-beta</a></div><div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="assets/icons.svg#icon-menu"></use></svg></a></div></div></header><div class="container container-main"><div class="col-content"><div class="tsd-page-title"><h1>CloudXR.js SDK Documentation - v6.0.0-beta</h1></div><div class="tsd-panel tsd-typography"><a id="nvidia-cloudxrjs" class="tsd-anchor"></a><h1 class="tsd-anchor-link">NVIDIA CloudXR.js<a href="#nvidia-cloudxrjs" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="assets/icons.svg#icon-anchor"></use></svg></a></h1><p>CloudXR.js is a JavaScript Client SDK that enables developers to build enterprise web applications for streaming high-performance VR and AR content from the CloudXR Runtime. Built on NVIDIA's CloudXR technology, this library provides seamless integration between web browsers and remote rendering systems, allowing users to experience immersive 3D applications directly in their browser.</p>
+<p>The SDK offers a complete solution for <a href="https://immersiveweb.dev/">WebXR</a> streaming, featuring automatic session management, optimized network protocols, and cross-platform compatibility. You can create rich VR/AR experiences that leverage the power of remote servers while maintaining the accessibility and ease of deployment that web applications provide. While we provide examples for WebGL and React Three Fiber implementations, CloudXR.js is a generic solution that can be integrated with any WebXR-compatible frameworks, making it suitable for a wide range of use cases from simple 3D visualizations to complex interactive applications.</p>
+<blockquote>
+<p><strong>Note</strong>: This is an early access beta release of CloudXR.js. Features and APIs may change in future releases.</p>
+</blockquote>
+<a id="🖥️-compatible-server-applications" class="tsd-anchor"></a><h2 class="tsd-anchor-link">🖥️ Compatible Server Applications<a href="#🖥️-compatible-server-applications" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="assets/icons.svg#icon-anchor"></use></svg></a></h2><p>CloudXR.js works with any OpenXR-compatible application running on a local or remote server with the CloudXR Runtime, including:</p>
+<ul>
+<li><a href="documents/Show_Cases.Isaac_Lab_Teleop.html"><strong>NVIDIA Isaac Lab</strong></a> - A unified and modular framework for robot learning that aims to simplify common workflows in robotics research.</li>
+<li><strong>OpenXR applications</strong> - Any OpenXR-compatible application running with the CloudXR Runtime.</li>
+</ul>
+<a id="🥽-compatible-client-devices" class="tsd-anchor"></a><h2 class="tsd-anchor-link">🥽 Compatible Client Devices<a href="#🥽-compatible-client-devices" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="assets/icons.svg#icon-anchor"></use></svg></a></h2><p>Our current release is optimized for Meta Quest 3.</p>
+<a id="🚀-getting-started" class="tsd-anchor"></a><h2 class="tsd-anchor-link">🚀 Getting Started<a href="#🚀-getting-started" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="assets/icons.svg#icon-anchor"></use></svg></a></h2><p>We provide several web examples to integrate with CloudXR.js. Please follow our <a href="documents/Getting_Started.html">Getting Started Guide</a>.</p>
+<a id="📚-documentation" class="tsd-anchor"></a><h2 class="tsd-anchor-link">📚 Documentation<a href="#📚-documentation" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="assets/icons.svg#icon-anchor"></use></svg></a></h2><a id="client-configuration" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Client Configuration<a href="#client-configuration" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="assets/icons.svg#icon-anchor"></use></svg></a></h3><p>Learn how to configure your client device and web application hosting. Includes browser setup for Meta Quest 3, HTTP vs HTTPS hosting modes, and connection architecture. See <a href="documents/Client_Setup.html">Client Setup Guide</a> for configuration examples and best practices.</p>
+<a id="session-api-1" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Session API<a href="#session-api-1" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="assets/icons.svg#icon-anchor"></use></svg></a></h3><p>Learn how to manage CloudXR streaming sessions, including connection lifecycle, configuration options, and event handling. See <a href="documents/Session_API.html">Session API Guide</a> for comprehensive API documentation.</p>
+<a id="networking-setup-1" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Networking Setup<a href="#networking-setup-1" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="assets/icons.svg#icon-anchor"></use></svg></a></h3><p>Configure your network for optimal CloudXR streaming performance. We provide example configurations for firewall rules, WiFi optimization, and WebSocket proxy deployments. See <a href="documents/Networking_Setup.html">Networking Setup Guide</a> for sample configurations and recommendations.</p>
+<a id="troubleshooting-1" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Troubleshooting<a href="#troubleshooting-1" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="assets/icons.svg#icon-anchor"></use></svg></a></h3><p>Resolve common issues with CloudXR.js applications, including connection problems, streaming issues, and performance optimization. See <a href="documents/Troubleshooting.html">Troubleshooting Guide</a> for solutions to common problems.</p>
+<a id="📄-licenses" class="tsd-anchor"></a><h2 class="tsd-anchor-link">📄 Licenses<a href="#📄-licenses" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="assets/icons.svg#icon-anchor"></use></svg></a></h2><a id="open-source-dependencies" class="tsd-anchor"></a><h3 class="tsd-anchor-link">Open Source Dependencies<a href="#open-source-dependencies" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="assets/icons.svg#icon-anchor"></use></svg></a></h3><p>CloudXR.js incorporates third-party open source libraries. The following dependencies require attention for license compliance:</p>
+<a id="third-party-libraries-bundled-within-cloudxrjs" class="tsd-anchor"></a><h4 class="tsd-anchor-link">Third-Party Libraries Bundled within CloudXR.js<a href="#third-party-libraries-bundled-within-cloudxrjs" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="assets/icons.svg#icon-anchor"></use></svg></a></h4><ul>
+<li><strong><a href="https://github.com/webrtchacks/adapter">webrtc-adapter</a></strong> - WebRTC compatibility shim for cross-browser support. Licensed under <a href="https://github.com/webrtcHacks/adapter/blob/main/LICENSE.md">BSD 3-Clause License</a>.</li>
+<li><strong><a href="https://github.com/open-telemetry/opentelemetry-js">opentelemetry-js</a></strong> - An observability framework for creating and managing application telemetry including traces, metrics, and logs. Licensed under <a href="https://github.com/open-telemetry/opentelemetry-js/blob/main/LICENSE">Apache License 2.0</a>.</li>
+</ul>
+<a id="peer-dependencies" class="tsd-anchor"></a><h4 class="tsd-anchor-link">Peer Dependencies<a href="#peer-dependencies" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="assets/icons.svg#icon-anchor"></use></svg></a></h4><ul>
+<li><strong><a href="https://github.com/toji/gl-matrix">gl-matrix</a></strong> - Mathematics library for graphics programming. Licensed under <a href="https://github.com/toji/gl-matrix/blob/master/LICENSE.md">MIT License</a>.</li>
+<li><strong><a href="https://github.com/dcodeIO/long.js">long.js</a></strong> - A Long class for representing a 64-bit two's-complement integer value. Used for accurate handling of uint64 fields in protobuf messages. Licensed under <a href="https://github.com/dcodeIO/long.js/blob/master/LICENSE">Apache License 2.0</a>.</li>
+</ul>
+<p>For a complete list of all dependencies and their licenses, refer to the <code>package.json</code> file in the root directory.</p>
+<a id="cloudxrjs-license" class="tsd-anchor"></a><h3 class="tsd-anchor-link">CloudXR.js License<a href="#cloudxrjs-license" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="assets/icons.svg#icon-anchor"></use></svg></a></h3><p>This project is licensed under the <a href="media/LICENSE">NVIDIA CloudXR License</a>.</p>
+<blockquote>
+<p><strong>Important</strong>: This is an evaluation license for internal test and evaluation purposes only. For commercial use, please contact NVIDIA for appropriate licensing terms.</p>
+<p>Please review the license terms before using this SDK in your projects.</p>
+</blockquote>
+</div></div><div class="col-sidebar"><div class="page-menu"><div class="tsd-navigation settings"><details class="tsd-accordion"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="assets/icons.svg#icon-chevronDown"></use></svg>Settings</h3></summary><div class="tsd-accordion-details"><div class="tsd-filter-visibility"><span class="settings-label">Member Visibility</span><ul id="tsd-filter-options"><li class="tsd-filter-item"><label class="tsd-filter-input"><input type="checkbox" id="tsd-filter-inherited" name="inherited" checked/><svg width="32" height="32" viewBox="0 0 32 32" aria-hidden="true"><rect class="tsd-checkbox-background" width="30" height="30" x="1" y="1" rx="6" fill="none"></rect><path class="tsd-checkbox-checkmark" d="M8.35422 16.8214L13.2143 21.75L24.6458 10.25" stroke="none" stroke-width="3.5" stroke-linejoin="round" fill="none"></path></svg><span>Inherited</span></label></li></ul></div><div class="tsd-theme-toggle"><label class="settings-label" for="tsd-theme">Theme</label><select id="tsd-theme"><option value="os">OS</option><option value="light">Light</option><option value="dark">Dark</option></select></div></div></details></div><details open class="tsd-accordion tsd-page-navigation"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="assets/icons.svg#icon-chevronDown"></use></svg>On This Page</h3></summary><div class="tsd-accordion-details"><a href="#nvidia-cloudxrjs"><span>NVIDIA <wbr/>CloudXR.js</span></a><ul><li><a href="#🖥️-compatible-server-applications"><span>🖥️ <wbr/>Compatible <wbr/>Server <wbr/>Applications</span></a></li><li><a href="#🥽-compatible-client-devices"><span>🥽 <wbr/>Compatible <wbr/>Client <wbr/>Devices</span></a></li><li><a href="#🚀-getting-started"><span>🚀 <wbr/>Getting <wbr/>Started</span></a></li><li><a href="#📚-documentation"><span>📚 <wbr/>Documentation</span></a></li><li><ul><li><a href="#client-configuration"><span>Client <wbr/>Configuration</span></a></li><li><a href="#session-api-1"><span>Session API</span></a></li><li><a href="#networking-setup-1"><span>Networking <wbr/>Setup</span></a></li><li><a href="#troubleshooting-1"><span>Troubleshooting</span></a></li></ul></li><li><a href="#📄-licenses"><span>📄 <wbr/>Licenses</span></a></li><li><ul><li><a href="#open-source-dependencies"><span>Open <wbr/>Source <wbr/>Dependencies</span></a></li><li><ul><li><a href="#third-party-libraries-bundled-within-cloudxrjs"><span>Third-<wbr/>Party <wbr/>Libraries <wbr/>Bundled within <wbr/>CloudXR.js</span></a></li><li><a href="#peer-dependencies"><span>Peer <wbr/>Dependencies</span></a></li></ul></li><li><a href="#cloudxrjs-license"><span>CloudXR.js <wbr/>License</span></a></li></ul></li></ul></div></details></div><div class="site-menu"><nav class="tsd-navigation"><a href="modules.html">CloudXR.js SDK Documentation - v6.0.0-beta</a><ul class="tsd-small-nested-navigation" id="tsd-nav-container"><li>Loading...</li></ul></nav></div></div></div><footer><p class="tsd-generator">Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></footer><div class="overlay"></div></body></html>
--- a/deps/cloudxr/docs/interfaces/CloudXR.Session.html
+++ b/deps/cloudxr/docs/interfaces/CloudXR.Session.html
@@ -0,0 +1,70 @@
+<!DOCTYPE html><html class="default" lang="en" data-base=".."><head><meta charset="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>Session | CloudXR.js SDK Documentation - v6.0.0-beta</title><meta name="description" content="Documentation for CloudXR.js SDK Documentation"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script defer src="../assets/main.js"></script><script async src="../assets/icons.js" id="tsd-icons-script"></script><script async src="../assets/search.js" id="tsd-search-script"></script><script async src="../assets/navigation.js" id="tsd-nav-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os";document.body.style.display="none";setTimeout(() => app?app.showPage():document.body.style.removeProperty("display"),500)</script><header class="tsd-page-toolbar"><div class="tsd-toolbar-contents container"><div class="table-cell" id="tsd-search"><div class="field"><label for="tsd-search-field" class="tsd-widget tsd-toolbar-icon search no-caption"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-search"></use></svg></label><input type="text" id="tsd-search-field" aria-label="Search"/></div><div class="field"><div id="tsd-toolbar-links"></div></div><ul class="results"><li class="state loading">Preparing search index...</li><li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">CloudXR.js SDK Documentation - v6.0.0-beta</a></div><div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-menu"></use></svg></a></div></div></header><div class="container container-main"><div class="col-content"><div class="tsd-page-title"><ul class="tsd-breadcrumb"><li><a href="../modules.html">CloudXR.js SDK Documentation</a></li><li><a href="../modules/CloudXR.html">CloudXR</a></li><li><a href="CloudXR.Session.html">Session</a></li></ul><h1>Interface Session</h1></div><section class="tsd-panel tsd-comment"><div class="tsd-comment tsd-typography"><p>Defines the interface for CloudXR streaming sessions.</p>
+<p>Provides the core functionality for managing CloudXR streaming
+sessions, including connection management, rendering, and communication with
+the CloudXR Runtime.</p>
+</div><div class="tsd-comment tsd-typography"><div class="tsd-tag-example"><h4 class="tsd-anchor-link"><a id="example" class="tsd-anchor"></a>Example<a href="#example" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><pre><code class="typescript"><span class="hl-3">// Create a session</span><br/><span class="hl-6">const</span><span class="hl-1"> </span><span class="hl-5">session</span><span class="hl-1"> = </span><span class="hl-0">createSession</span><span class="hl-1">(</span><span class="hl-4">sessionOptions</span><span class="hl-1">, </span><span class="hl-4">delegates</span><span class="hl-1">);</span><br/><br/><span class="hl-3">// Connect to CloudXR Runtime</span><br/><span class="hl-9">if</span><span class="hl-1"> (</span><span class="hl-4">session</span><span class="hl-1">.</span><span class="hl-0">connect</span><span class="hl-1">()) {</span><br/><span class="hl-1">  </span><span class="hl-4">console</span><span class="hl-1">.</span><span class="hl-0">info</span><span class="hl-1">(</span><span class="hl-2">&#39;Connection initiated&#39;</span><span class="hl-1">);</span><br/><span class="hl-1">}</span><br/><br/><span class="hl-3">// In your render loop</span><br/><span class="hl-6">function</span><span class="hl-1"> </span><span class="hl-0">renderFrame</span><span class="hl-1">(</span><span class="hl-4">time</span><span class="hl-1">, </span><span class="hl-4">frame</span><span class="hl-1">) {</span><br/><span class="hl-1">  </span><span class="hl-9">try</span><span class="hl-1"> {</span><br/><span class="hl-1">    </span><span class="hl-3">// Send tracking data</span><br/><span class="hl-1">    </span><span class="hl-4">session</span><span class="hl-1">.</span><span class="hl-0">sendTrackingStateToServer</span><span class="hl-1">(</span><span class="hl-4">time</span><span class="hl-1">, </span><span class="hl-4">frame</span><span class="hl-1">);</span><br/><br/><span class="hl-1">    </span><span class="hl-3">// Render CloudXR content</span><br/><span class="hl-1">    </span><span class="hl-4">session</span><span class="hl-1">.</span><span class="hl-0">render</span><span class="hl-1">(</span><span class="hl-4">time</span><span class="hl-1">, </span><span class="hl-4">frame</span><span class="hl-1">, </span><span class="hl-4">xrWebGLLayer</span><span class="hl-1">);</span><br/><span class="hl-1">  } </span><span class="hl-9">catch</span><span class="hl-1"> (</span><span class="hl-4">error</span><span class="hl-1">) {</span><br/><span class="hl-1">    </span><span class="hl-4">console</span><span class="hl-1">.</span><span class="hl-0">error</span><span class="hl-1">(</span><span class="hl-2">&#39;Error during frame rendering:&#39;</span><span class="hl-1">, </span><span class="hl-4">error</span><span class="hl-1">);</span><br/><span class="hl-1">  }</span><br/><span class="hl-1">}</span>
+</code><button type="button">Copy</button></pre>
+
+</div></div></section><div class="tsd-signature"><span class="tsd-signature-keyword">interface</span> <span class="tsd-kind-interface">Session</span> <span class="tsd-signature-symbol">{</span><br/>    <a class="tsd-kind-property" href="CloudXR.Session.html#state">state</a><span class="tsd-signature-symbol">:</span> <a href="../enums/CloudXR.SessionState.html" class="tsd-signature-type tsd-kind-enum">SessionState</a><span class="tsd-signature-symbol">;</span><br/>    <a class="tsd-kind-call-signature" href="CloudXR.Session.html#connect-1">connect</a><span class="tsd-signature-symbol">()</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">void</span><span class="tsd-signature-symbol">;</span><br/>    <a class="tsd-kind-call-signature" href="CloudXR.Session.html#disconnect-1">disconnect</a><span class="tsd-signature-symbol">()</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">void</span><span class="tsd-signature-symbol">;</span><br/>    <a class="tsd-kind-call-signature" href="CloudXR.Session.html#sendtrackingstatetoserver-1">sendTrackingStateToServer</a><span class="tsd-signature-symbol">(</span><span class="tsd-kind-parameter">timestamp</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">,</span> <span class="tsd-kind-parameter">frame</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">XRFrame</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span><span class="tsd-signature-symbol">;</span><br/>    <a class="tsd-kind-call-signature" href="CloudXR.Session.html#render-1">render</a><span class="tsd-signature-symbol">(</span><span class="tsd-kind-parameter">timestamp</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">,</span> <span class="tsd-kind-parameter">frame</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">XRFrame</span><span class="tsd-signature-symbol">,</span> <span class="tsd-kind-parameter">layer</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">XRWebGLLayer</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">void</span><span class="tsd-signature-symbol">;</span><br/>    <a class="tsd-kind-call-signature" href="CloudXR.Session.html#sendservermessage-1">sendServerMessage</a><span class="tsd-signature-symbol">(</span><span class="tsd-kind-parameter">message</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">any</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">void</span><span class="tsd-signature-symbol">;</span><br/><span class="tsd-signature-symbol">}</span></div><section class="tsd-panel-group tsd-index-group"><section class="tsd-panel tsd-index-panel"><details class="tsd-index-content tsd-accordion" open><summary class="tsd-accordion-summary tsd-index-summary"><h5 class="tsd-index-heading uppercase" role="button" aria-expanded="false" tabIndex="0"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronSmall"></use></svg> Index</h5></summary><div class="tsd-accordion-details"><section class="tsd-index-section"><h3 class="tsd-index-heading">Properties</h3><div class="tsd-index-list"><a href="CloudXR.Session.html#state" class="tsd-index-link"><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Property"><use href="../assets/icons.svg#icon-1024"></use></svg><span>state</span></a>
+</div></section><section class="tsd-index-section"><h3 class="tsd-index-heading">Methods</h3><div class="tsd-index-list"><a href="CloudXR.Session.html#connect" class="tsd-index-link"><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Method"><use href="../assets/icons.svg#icon-2048"></use></svg><span>connect</span></a>
+<a href="CloudXR.Session.html#disconnect" class="tsd-index-link"><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Method"><use href="../assets/icons.svg#icon-2048"></use></svg><span>disconnect</span></a>
+<a href="CloudXR.Session.html#sendtrackingstatetoserver" class="tsd-index-link"><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Method"><use href="../assets/icons.svg#icon-2048"></use></svg><span>send<wbr/>Tracking<wbr/>State<wbr/>To<wbr/>Server</span></a>
+<a href="CloudXR.Session.html#render" class="tsd-index-link"><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Method"><use href="../assets/icons.svg#icon-2048"></use></svg><span>render</span></a>
+<a href="CloudXR.Session.html#sendservermessage" class="tsd-index-link"><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Method"><use href="../assets/icons.svg#icon-2048"></use></svg><span>send<wbr/>Server<wbr/>Message</span></a>
+</div></section></div></details></section></section><details class="tsd-panel-group tsd-member-group tsd-accordion" open><summary class="tsd-accordion-summary" data-key="section-Properties"><h2><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg> Properties</h2></summary><section><section class="tsd-panel tsd-member"><a id="state" class="tsd-anchor"></a><h3 class="tsd-anchor-link"><code class="tsd-tag">Readonly</code><span>state</span><a href="#state" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><div class="tsd-signature"><span class="tsd-kind-property">state</span><span class="tsd-signature-symbol">:</span> <a href="../enums/CloudXR.SessionState.html" class="tsd-signature-type tsd-kind-enum">SessionState</a></div><div class="tsd-comment tsd-typography"><p>Current state of the session.</p>
+<p>This readonly property provides the current state of the session,
+which can be used to determine what operations are available
+and to monitor the session lifecycle.</p>
+</div><div class="tsd-comment tsd-typography"><div class="tsd-tag-example"><h4 class="tsd-anchor-link"><a id="example-1" class="tsd-anchor"></a>Example<a href="#example-1" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><pre><code class="typescript"><span class="hl-3">// Check if session is ready for rendering</span><br/><span class="hl-9">if</span><span class="hl-1"> (</span><span class="hl-4">session</span><span class="hl-1">.</span><span class="hl-4">state</span><span class="hl-1"> === </span><span class="hl-4">SessionState</span><span class="hl-1">.</span><span class="hl-4">Connected</span><span class="hl-1">) {</span><br/><span class="hl-1">  </span><span class="hl-3">// Safe to call render() and sendTrackingStateToServer()</span><br/><span class="hl-1">}</span><br/><br/><span class="hl-3">// Monitor state changes</span><br/><span class="hl-4">console</span><span class="hl-1">.</span><span class="hl-0">info</span><span class="hl-1">(</span><span class="hl-2">&#39;Session state:&#39;</span><span class="hl-1">, </span><span class="hl-4">session</span><span class="hl-1">.</span><span class="hl-4">state</span><span class="hl-1">);</span>
+</code><button type="button">Copy</button></pre>
+
+</div></div></section></section></details><details class="tsd-panel-group tsd-member-group tsd-accordion" open><summary class="tsd-accordion-summary" data-key="section-Methods"><h2><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg> Methods</h2></summary><section><section class="tsd-panel tsd-member"><a id="connect" class="tsd-anchor"></a><h3 class="tsd-anchor-link"><span>connect</span><a href="#connect" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><ul class="tsd-signatures"><li class=""><div class="tsd-signature tsd-anchor-link"><a id="connect-1" class="tsd-anchor"></a><span class="tsd-kind-call-signature">connect</span><span class="tsd-signature-symbol">()</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">void</span><a href="#connect-1" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></div><div class="tsd-description"><div class="tsd-comment tsd-typography"><p>Connect to the CloudXR server and start streaming.</p>
+<p>Initiates connection to the CloudXR Runtime and transitions the session
+to SessionState.Connecting, then SessionState.Connected once streaming is active.</p>
+</div><h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><div class="tsd-comment tsd-typography"><div class="tsd-tag-throws"><h4 class="tsd-anchor-link"><a id="throws" class="tsd-anchor"></a>Throws<a href="#throws" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><p>If called when session is not in Initialized or Disconnected state</p>
+</div><div class="tsd-tag-example"><h4 class="tsd-anchor-link"><a id="example-2" class="tsd-anchor"></a>Example<a href="#example-2" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><pre><code class="typescript"><span class="hl-9">try</span><span class="hl-1"> {</span><br/><span class="hl-1">  </span><span class="hl-4">session</span><span class="hl-1">.</span><span class="hl-0">connect</span><span class="hl-1">();</span><br/><span class="hl-1">  </span><span class="hl-4">console</span><span class="hl-1">.</span><span class="hl-0">info</span><span class="hl-1">(</span><span class="hl-2">&#39;Connection initiated&#39;</span><span class="hl-1">);</span><br/><span class="hl-1">} </span><span class="hl-9">catch</span><span class="hl-1"> (</span><span class="hl-4">error</span><span class="hl-1">) {</span><br/><span class="hl-1">  </span><span class="hl-4">console</span><span class="hl-1">.</span><span class="hl-0">error</span><span class="hl-1">(</span><span class="hl-2">&#39;Failed to initiate connection:&#39;</span><span class="hl-1">, </span><span class="hl-4">error</span><span class="hl-1">.</span><span class="hl-4">message</span><span class="hl-1">);</span><br/><span class="hl-1">}</span>
+</code><button type="button">Copy</button></pre>
+
+</div></div></div></li></ul></section><section class="tsd-panel tsd-member"><a id="disconnect" class="tsd-anchor"></a><h3 class="tsd-anchor-link"><span>disconnect</span><a href="#disconnect" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><ul class="tsd-signatures"><li class=""><div class="tsd-signature tsd-anchor-link"><a id="disconnect-1" class="tsd-anchor"></a><span class="tsd-kind-call-signature">disconnect</span><span class="tsd-signature-symbol">()</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">void</span><a href="#disconnect-1" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></div><div class="tsd-description"><div class="tsd-comment tsd-typography"><p>Disconnects from the CloudXR Runtime and terminates any streams.</p>
+<p>Gracefully disconnects from the CloudXR Runtime and cleans up resources.
+The session transitions through the following states:</p>
+<ol>
+<li><a href="../enums/CloudXR.SessionState.html#disconnecting" class="tsd-kind-enum-member">SessionState.Disconnecting</a> - Disconnection in progress</li>
+<li><a href="../enums/CloudXR.SessionState.html#disconnected" class="tsd-kind-enum-member">SessionState.Disconnected</a> - Successfully disconnected</li>
+</ol>
+<p>After disconnection, the session can be reconnected by calling connect() again.</p>
+</div><h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><div class="tsd-comment tsd-typography"><div class="tsd-tag-example"><h4 class="tsd-anchor-link"><a id="example-3" class="tsd-anchor"></a>Example<a href="#example-3" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><pre><code class="typescript"><span class="hl-3">// Disconnect when done</span><br/><span class="hl-4">session</span><span class="hl-1">.</span><span class="hl-0">disconnect</span><span class="hl-1">();</span><br/><span class="hl-4">console</span><span class="hl-1">.</span><span class="hl-0">info</span><span class="hl-1">(</span><span class="hl-2">&#39;Disconnection initiated&#39;</span><span class="hl-1">);</span><br/><br/><span class="hl-3">// Disconnect on user action</span><br/><span class="hl-4">document</span><span class="hl-1">.</span><span class="hl-0">getElementById</span><span class="hl-1">(</span><span class="hl-2">&#39;disconnect-btn&#39;</span><span class="hl-1">).</span><span class="hl-0">onclick</span><span class="hl-1"> = () </span><span class="hl-6">=&gt;</span><span class="hl-1"> {</span><br/><span class="hl-1">  </span><span class="hl-4">session</span><span class="hl-1">.</span><span class="hl-0">disconnect</span><span class="hl-1">();</span><br/><span class="hl-1">};</span>
+</code><button type="button">Copy</button></pre>
+
+</div></div></div></li></ul></section><section class="tsd-panel tsd-member"><a id="sendtrackingstatetoserver" class="tsd-anchor"></a><h3 class="tsd-anchor-link"><span>send<wbr/>Tracking<wbr/>State<wbr/>To<wbr/>Server</span><a href="#sendtrackingstatetoserver" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><ul class="tsd-signatures"><li class=""><div class="tsd-signature tsd-anchor-link"><a id="sendtrackingstatetoserver-1" class="tsd-anchor"></a><span class="tsd-kind-call-signature">sendTrackingStateToServer</span><span class="tsd-signature-symbol">(</span><span class="tsd-kind-parameter">timestamp</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">,</span> <span class="tsd-kind-parameter">frame</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">XRFrame</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span><a href="#sendtrackingstatetoserver-1" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></div><div class="tsd-description"><div class="tsd-comment tsd-typography"><p>Sends the view pose and input tracking data to the CloudXR Runtime.</p>
+<p>Sends the current viewer pose (head position/orientation)
+and input tracking data (controllers, hand tracking) to the CloudXR
+Runtime. This data is essential for the Runtime to render the correct
+view and handle user input.</p>
+</div><div class="tsd-parameters"><h4 class="tsd-parameters-title">Parameters</h4><ul class="tsd-parameter-list"><li><span><span class="tsd-kind-parameter">timestamp</span>: <span class="tsd-signature-type">number</span></span><div class="tsd-comment tsd-typography"><p>The current timestamp (DOMHighResTimeStamp) from the XR frame</p>
+</div><div class="tsd-comment tsd-typography"></div></li><li><span><span class="tsd-kind-parameter">frame</span>: <span class="tsd-signature-type">XRFrame</span></span><div class="tsd-comment tsd-typography"><p>The XR frame containing tracking data to send to the Runtime</p>
+</div><div class="tsd-comment tsd-typography"></div></li></ul></div><h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><p>True if the tracking data was sent successfully, false otherwise.
+Returns false if the session is not in Connected state.</p>
+<div class="tsd-comment tsd-typography"><div class="tsd-tag-example"><h4 class="tsd-anchor-link"><a id="example-4" class="tsd-anchor"></a>Example<a href="#example-4" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><pre><code class="typescript"><span class="hl-3">// In your WebXR render loop</span><br/><span class="hl-6">function</span><span class="hl-1"> </span><span class="hl-0">renderFrame</span><span class="hl-1">(</span><span class="hl-4">time</span><span class="hl-1">, </span><span class="hl-4">frame</span><span class="hl-1">) {</span><br/><span class="hl-1">  </span><span class="hl-9">try</span><span class="hl-1"> {</span><br/><span class="hl-1">    </span><span class="hl-3">// Send tracking data first</span><br/><span class="hl-1">    </span><span class="hl-9">if</span><span class="hl-1"> (!</span><span class="hl-4">session</span><span class="hl-1">.</span><span class="hl-0">sendTrackingStateToServer</span><span class="hl-1">(</span><span class="hl-4">time</span><span class="hl-1">, </span><span class="hl-4">frame</span><span class="hl-1">)) {</span><br/><span class="hl-1">      </span><span class="hl-4">console</span><span class="hl-1">.</span><span class="hl-0">warn</span><span class="hl-1">(</span><span class="hl-2">&#39;Failed to send tracking state&#39;</span><span class="hl-1">);</span><br/><span class="hl-1">      </span><span class="hl-9">return</span><span class="hl-1">;</span><br/><span class="hl-1">    }</span><br/><br/><span class="hl-1">    </span><span class="hl-3">// Then render the frame</span><br/><span class="hl-1">    </span><span class="hl-4">session</span><span class="hl-1">.</span><span class="hl-0">render</span><span class="hl-1">(</span><span class="hl-4">time</span><span class="hl-1">, </span><span class="hl-4">frame</span><span class="hl-1">, </span><span class="hl-4">xrWebGLLayer</span><span class="hl-1">);</span><br/><span class="hl-1">  } </span><span class="hl-9">catch</span><span class="hl-1"> (</span><span class="hl-4">error</span><span class="hl-1">) {</span><br/><span class="hl-1">    </span><span class="hl-4">console</span><span class="hl-1">.</span><span class="hl-0">error</span><span class="hl-1">(</span><span class="hl-2">&#39;Error in render frame:&#39;</span><span class="hl-1">, </span><span class="hl-4">error</span><span class="hl-1">);</span><br/><span class="hl-1">  }</span><br/><span class="hl-1">}</span><br/><br/><span class="hl-3">// Start the render loop</span><br/><span class="hl-4">xrSession</span><span class="hl-1">.</span><span class="hl-0">requestAnimationFrame</span><span class="hl-1">(</span><span class="hl-4">renderFrame</span><span class="hl-1">);</span>
+</code><button type="button">Copy</button></pre>
+
+</div></div></div></li></ul></section><section class="tsd-panel tsd-member"><a id="render" class="tsd-anchor"></a><h3 class="tsd-anchor-link"><span>render</span><a href="#render" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><ul class="tsd-signatures"><li class=""><div class="tsd-signature tsd-anchor-link"><a id="render-1" class="tsd-anchor"></a><span class="tsd-kind-call-signature">render</span><span class="tsd-signature-symbol">(</span><span class="tsd-kind-parameter">timestamp</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">,</span> <span class="tsd-kind-parameter">frame</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">XRFrame</span><span class="tsd-signature-symbol">,</span> <span class="tsd-kind-parameter">layer</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">XRWebGLLayer</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">void</span><a href="#render-1" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></div><div class="tsd-description"><div class="tsd-comment tsd-typography"><p>Renders a frame from CloudXR.</p>
+<p>Renders the current frame received from the CloudXR Runtime
+into the specified WebXR layer. Call this method every frame in your
+WebXR render loop after sending tracking data.</p>
+</div><div class="tsd-parameters"><h4 class="tsd-parameters-title">Parameters</h4><ul class="tsd-parameter-list"><li><span><span class="tsd-kind-parameter">timestamp</span>: <span class="tsd-signature-type">number</span></span><div class="tsd-comment tsd-typography"><p>The current timestamp (DOMHighResTimeStamp) from the XR frame</p>
+</div><div class="tsd-comment tsd-typography"></div></li><li><span><span class="tsd-kind-parameter">frame</span>: <span class="tsd-signature-type">XRFrame</span></span><div class="tsd-comment tsd-typography"><p>The XR frame to render</p>
+</div><div class="tsd-comment tsd-typography"></div></li><li><span><span class="tsd-kind-parameter">layer</span>: <span class="tsd-signature-type">XRWebGLLayer</span></span><div class="tsd-comment tsd-typography"><p>The WebXR layer to render into (typically xrSession.renderState.baseLayer)</p>
+</div><div class="tsd-comment tsd-typography"></div></li></ul></div><h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><div class="tsd-comment tsd-typography"><div class="tsd-tag-example"><h4 class="tsd-anchor-link"><a id="example-5" class="tsd-anchor"></a>Example<a href="#example-5" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><pre><code class="typescript"><span class="hl-3">// Complete render loop</span><br/><span class="hl-6">function</span><span class="hl-1"> </span><span class="hl-0">renderFrame</span><span class="hl-1">(</span><span class="hl-4">time</span><span class="hl-1">, </span><span class="hl-4">frame</span><span class="hl-1">) {</span><br/><span class="hl-1">  </span><span class="hl-9">try</span><span class="hl-1"> {</span><br/><span class="hl-1">    </span><span class="hl-3">// Send tracking data</span><br/><span class="hl-1">    </span><span class="hl-4">session</span><span class="hl-1">.</span><span class="hl-0">sendTrackingStateToServer</span><span class="hl-1">(</span><span class="hl-4">time</span><span class="hl-1">, </span><span class="hl-4">frame</span><span class="hl-1">);</span><br/><br/><span class="hl-1">    </span><span class="hl-3">// Render CloudXR content</span><br/><span class="hl-1">    </span><span class="hl-4">session</span><span class="hl-1">.</span><span class="hl-0">render</span><span class="hl-1">(</span><span class="hl-4">time</span><span class="hl-1">, </span><span class="hl-4">frame</span><span class="hl-1">, </span><span class="hl-4">xrSession</span><span class="hl-1">.</span><span class="hl-4">renderState</span><span class="hl-1">.</span><span class="hl-4">baseLayer</span><span class="hl-1">);</span><br/><span class="hl-1">  } </span><span class="hl-9">catch</span><span class="hl-1"> (</span><span class="hl-4">error</span><span class="hl-1">) {</span><br/><span class="hl-1">    </span><span class="hl-4">console</span><span class="hl-1">.</span><span class="hl-0">error</span><span class="hl-1">(</span><span class="hl-2">&#39;Error in render frame:&#39;</span><span class="hl-1">, </span><span class="hl-4">error</span><span class="hl-1">);</span><br/><span class="hl-1">  }</span><br/><br/><span class="hl-1">  </span><span class="hl-3">// Continue the loop</span><br/><span class="hl-1">  </span><span class="hl-4">xrSession</span><span class="hl-1">.</span><span class="hl-0">requestAnimationFrame</span><span class="hl-1">(</span><span class="hl-4">renderFrame</span><span class="hl-1">);</span><br/><span class="hl-1">}</span><br/><br/><span class="hl-3">// Start rendering</span><br/><span class="hl-4">xrSession</span><span class="hl-1">.</span><span class="hl-0">requestAnimationFrame</span><span class="hl-1">(</span><span class="hl-4">renderFrame</span><span class="hl-1">);</span>
+</code><button type="button">Copy</button></pre>
+
+</div></div></div></li></ul></section><section class="tsd-panel tsd-member"><a id="sendservermessage" class="tsd-anchor"></a><h3 class="tsd-anchor-link"><span>send<wbr/>Server<wbr/>Message</span><a href="#sendservermessage" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><ul class="tsd-signatures"><li class=""><div class="tsd-signature tsd-anchor-link"><a id="sendservermessage-1" class="tsd-anchor"></a><span class="tsd-kind-call-signature">sendServerMessage</span><span class="tsd-signature-symbol">(</span><span class="tsd-kind-parameter">message</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">any</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">void</span><a href="#sendservermessage-1" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></div><div class="tsd-description"><div class="tsd-comment tsd-typography"><p>Send a custom message to the CloudXR server.</p>
+<p>Sends a custom JSON message to the server through the CloudXR protocol.
+The message is serialized and sent via the streaming connection.</p>
+</div><div class="tsd-parameters"><h4 class="tsd-parameters-title">Parameters</h4><ul class="tsd-parameter-list"><li><span><span class="tsd-kind-parameter">message</span>: <span class="tsd-signature-type">any</span></span><div class="tsd-comment tsd-typography"><p>The message object to send to the server (must be a valid JSON object)</p>
+</div><div class="tsd-comment tsd-typography"></div></li></ul></div><h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><div class="tsd-comment tsd-typography"><div class="tsd-tag-throws"><h4 class="tsd-anchor-link"><a id="throws-1" class="tsd-anchor"></a>Throws<a href="#throws-1" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><p>If session is not connected</p>
+</div><div class="tsd-tag-throws"><h4 class="tsd-anchor-link"><a id="throws-2" class="tsd-anchor"></a>Throws<a href="#throws-2" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><p>If message is not a valid JSON object (null, primitive, or array)</p>
+</div><div class="tsd-tag-example"><h4 class="tsd-anchor-link"><a id="example-6" class="tsd-anchor"></a>Example<a href="#example-6" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><pre><code class="typescript"><span class="hl-9">try</span><span class="hl-1"> {</span><br/><span class="hl-1">  </span><span class="hl-6">const</span><span class="hl-1"> </span><span class="hl-5">customMessage</span><span class="hl-1"> = {</span><br/><span class="hl-1">    </span><span class="hl-4">type:</span><span class="hl-1"> </span><span class="hl-2">&#39;userAction&#39;</span><span class="hl-1">,</span><br/><span class="hl-1">    </span><span class="hl-4">action:</span><span class="hl-1"> </span><span class="hl-2">&#39;buttonPress&#39;</span><span class="hl-1">,</span><br/><span class="hl-1">    </span><span class="hl-4">data:</span><span class="hl-1"> { </span><span class="hl-4">buttonId:</span><span class="hl-1"> </span><span class="hl-7">1</span><span class="hl-1"> }</span><br/><span class="hl-1">  };</span><br/><span class="hl-1">  </span><span class="hl-4">session</span><span class="hl-1">.</span><span class="hl-0">sendServerMessage</span><span class="hl-1">(</span><span class="hl-4">customMessage</span><span class="hl-1">);</span><br/><span class="hl-1">  </span><span class="hl-4">console</span><span class="hl-1">.</span><span class="hl-0">info</span><span class="hl-1">(</span><span class="hl-2">&#39;Message sent successfully&#39;</span><span class="hl-1">);</span><br/><span class="hl-1">} </span><span class="hl-9">catch</span><span class="hl-1"> (</span><span class="hl-4">error</span><span class="hl-1">) {</span><br/><span class="hl-1">  </span><span class="hl-4">console</span><span class="hl-1">.</span><span class="hl-0">error</span><span class="hl-1">(</span><span class="hl-2">&#39;Failed to send message:&#39;</span><span class="hl-1">, </span><span class="hl-4">error</span><span class="hl-1">.</span><span class="hl-4">message</span><span class="hl-1">);</span><br/><span class="hl-1">}</span>
+</code><button type="button">Copy</button></pre>
+
+</div></div></div></li></ul></section></section></details></div><div class="col-sidebar"><div class="page-menu"><div class="tsd-navigation settings"><details class="tsd-accordion"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>Settings</h3></summary><div class="tsd-accordion-details"><div class="tsd-filter-visibility"><span class="settings-label">Member Visibility</span><ul id="tsd-filter-options"><li class="tsd-filter-item"><label class="tsd-filter-input"><input type="checkbox" id="tsd-filter-inherited" name="inherited" checked/><svg width="32" height="32" viewBox="0 0 32 32" aria-hidden="true"><rect class="tsd-checkbox-background" width="30" height="30" x="1" y="1" rx="6" fill="none"></rect><path class="tsd-checkbox-checkmark" d="M8.35422 16.8214L13.2143 21.75L24.6458 10.25" stroke="none" stroke-width="3.5" stroke-linejoin="round" fill="none"></path></svg><span>Inherited</span></label></li></ul></div><div class="tsd-theme-toggle"><label class="settings-label" for="tsd-theme">Theme</label><select id="tsd-theme"><option value="os">OS</option><option value="light">Light</option><option value="dark">Dark</option></select></div></div></details></div><details open class="tsd-accordion tsd-page-navigation"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>On This Page</h3></summary><div class="tsd-accordion-details"><details open class="tsd-accordion tsd-page-navigation-section"><summary class="tsd-accordion-summary" data-key="section-Properties"><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>Properties</summary><div><a href="#state" class=""><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Property"><use href="../assets/icons.svg#icon-1024"></use></svg><span>state</span></a></div></details><details open class="tsd-accordion tsd-page-navigation-section"><summary class="tsd-accordion-summary" data-key="section-Methods"><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>Methods</summary><div><a href="#connect" class=""><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Method"><use href="../assets/icons.svg#icon-2048"></use></svg><span>connect</span></a><a href="#disconnect" class=""><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Method"><use href="../assets/icons.svg#icon-2048"></use></svg><span>disconnect</span></a><a href="#sendtrackingstatetoserver" class=""><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Method"><use href="../assets/icons.svg#icon-2048"></use></svg><span>send<wbr/>Tracking<wbr/>State<wbr/>To<wbr/>Server</span></a><a href="#render" class=""><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Method"><use href="../assets/icons.svg#icon-2048"></use></svg><span>render</span></a><a href="#sendservermessage" class=""><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Method"><use href="../assets/icons.svg#icon-2048"></use></svg><span>send<wbr/>Server<wbr/>Message</span></a></div></details></div></details></div><div class="site-menu"><nav class="tsd-navigation"><a href="../modules.html">CloudXR.js SDK Documentation - v6.0.0-beta</a><ul class="tsd-small-nested-navigation" id="tsd-nav-container"><li>Loading...</li></ul></nav></div></div></div><footer><p class="tsd-generator">Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></footer><div class="overlay"></div></body></html>
--- a/deps/cloudxr/docs/interfaces/CloudXR.SessionDelegates.html
+++ b/deps/cloudxr/docs/interfaces/CloudXR.SessionDelegates.html
@@ -0,0 +1,47 @@
+<!DOCTYPE html><html class="default" lang="en" data-base=".."><head><meta charset="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>SessionDelegates | CloudXR.js SDK Documentation - v6.0.0-beta</title><meta name="description" content="Documentation for CloudXR.js SDK Documentation"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script defer src="../assets/main.js"></script><script async src="../assets/icons.js" id="tsd-icons-script"></script><script async src="../assets/search.js" id="tsd-search-script"></script><script async src="../assets/navigation.js" id="tsd-nav-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os";document.body.style.display="none";setTimeout(() => app?app.showPage():document.body.style.removeProperty("display"),500)</script><header class="tsd-page-toolbar"><div class="tsd-toolbar-contents container"><div class="table-cell" id="tsd-search"><div class="field"><label for="tsd-search-field" class="tsd-widget tsd-toolbar-icon search no-caption"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-search"></use></svg></label><input type="text" id="tsd-search-field" aria-label="Search"/></div><div class="field"><div id="tsd-toolbar-links"></div></div><ul class="results"><li class="state loading">Preparing search index...</li><li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">CloudXR.js SDK Documentation - v6.0.0-beta</a></div><div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-menu"></use></svg></a></div></div></header><div class="container container-main"><div class="col-content"><div class="tsd-page-title"><ul class="tsd-breadcrumb"><li><a href="../modules.html">CloudXR.js SDK Documentation</a></li><li><a href="../modules/CloudXR.html">CloudXR</a></li><li><a href="CloudXR.SessionDelegates.html">SessionDelegates</a></li></ul><h1>Interface SessionDelegates</h1></div><section class="tsd-panel tsd-comment"><div class="tsd-comment tsd-typography"><p>Defines callbacks for CloudXR session events.</p>
+<p>Applications implement these callbacks to receive notifications about
+session lifecycle events and WebGL state changes. All callbacks are optional.</p>
+</div><div class="tsd-comment tsd-typography"><div class="tsd-tag-example"><h4 class="tsd-anchor-link"><a id="example" class="tsd-anchor"></a>Example<a href="#example" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><pre><code class="typescript"><span class="hl-6">const</span><span class="hl-1"> </span><span class="hl-5">delegates</span><span class="hl-1">: </span><span class="hl-13">SessionDelegates</span><span class="hl-1"> = {</span><br/><span class="hl-1">  </span><span class="hl-0">onStreamStarted</span><span class="hl-4">:</span><span class="hl-1"> () </span><span class="hl-6">=&gt;</span><span class="hl-1"> {</span><br/><span class="hl-1">    </span><span class="hl-4">console</span><span class="hl-1">.</span><span class="hl-0">info</span><span class="hl-1">(</span><span class="hl-2">&#39;CloudXR streaming started&#39;</span><span class="hl-1">);</span><br/><span class="hl-1">    </span><span class="hl-3">// Update UI to show streaming status</span><br/><span class="hl-1">  },</span><br/><span class="hl-1">  </span><span class="hl-0">onStreamStopped</span><span class="hl-4">:</span><span class="hl-1"> (</span><span class="hl-4">error</span><span class="hl-1">) </span><span class="hl-6">=&gt;</span><span class="hl-1"> {</span><br/><span class="hl-1">    </span><span class="hl-9">if</span><span class="hl-1"> (</span><span class="hl-4">error</span><span class="hl-1">) {</span><br/><span class="hl-1">      </span><span class="hl-4">console</span><span class="hl-1">.</span><span class="hl-0">error</span><span class="hl-1">(</span><span class="hl-2">&#39;Streaming stopped due to error:&#39;</span><span class="hl-1">, </span><span class="hl-4">error</span><span class="hl-1">);</span><br/><span class="hl-1">    } </span><span class="hl-9">else</span><span class="hl-1"> {</span><br/><span class="hl-1">      </span><span class="hl-4">console</span><span class="hl-1">.</span><span class="hl-0">info</span><span class="hl-1">(</span><span class="hl-2">&#39;Streaming stopped normally&#39;</span><span class="hl-1">);</span><br/><span class="hl-1">    }</span><br/><span class="hl-1">  }</span><br/><span class="hl-1">};</span>
+</code><button type="button">Copy</button></pre>
+
+</div></div></section><div class="tsd-signature"><span class="tsd-signature-keyword">interface</span> <span class="tsd-kind-interface">SessionDelegates</span> <span class="tsd-signature-symbol">{</span><br/>    <a class="tsd-kind-property" href="CloudXR.SessionDelegates.html#onstreamstarted">onStreamStarted</a><span class="tsd-signature-symbol">?:</span> <span class="tsd-signature-symbol">()</span> <span class="tsd-signature-symbol">=&gt;</span> <span class="tsd-signature-type">void</span><span class="tsd-signature-symbol">;</span><br/>    <a class="tsd-kind-property" href="CloudXR.SessionDelegates.html#onstreamstopped">onStreamStopped</a><span class="tsd-signature-symbol">?:</span> <span class="tsd-signature-symbol">(</span><span class="tsd-kind-parameter">error</span><span class="tsd-signature-symbol">?:</span> <span class="tsd-signature-type">Error</span><span class="tsd-signature-symbol">)</span> <span class="tsd-signature-symbol">=&gt;</span> <span class="tsd-signature-type">void</span><span class="tsd-signature-symbol">;</span><br/>    <a class="tsd-kind-property" href="CloudXR.SessionDelegates.html#onwebglstatechangebegin">onWebGLStateChangeBegin</a><span class="tsd-signature-symbol">?:</span> <span class="tsd-signature-symbol">()</span> <span class="tsd-signature-symbol">=&gt;</span> <span class="tsd-signature-type">void</span><span class="tsd-signature-symbol">;</span><br/>    <a class="tsd-kind-property" href="CloudXR.SessionDelegates.html#onwebglstatechangeend">onWebGLStateChangeEnd</a><span class="tsd-signature-symbol">?:</span> <span class="tsd-signature-symbol">()</span> <span class="tsd-signature-symbol">=&gt;</span> <span class="tsd-signature-type">void</span><span class="tsd-signature-symbol">;</span><br/>    <a class="tsd-kind-property" href="CloudXR.SessionDelegates.html#onservermessagereceived">onServerMessageReceived</a><span class="tsd-signature-symbol">?:</span> <span class="tsd-signature-symbol">(</span><span class="tsd-kind-parameter">messageData</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Uint8Array</span><span class="tsd-signature-symbol">)</span> <span class="tsd-signature-symbol">=&gt;</span> <span class="tsd-signature-type">void</span><span class="tsd-signature-symbol">;</span><br/><span class="tsd-signature-symbol">}</span></div><section class="tsd-panel-group tsd-index-group"><section class="tsd-panel tsd-index-panel"><details class="tsd-index-content tsd-accordion" open><summary class="tsd-accordion-summary tsd-index-summary"><h5 class="tsd-index-heading uppercase" role="button" aria-expanded="false" tabIndex="0"><svg width="16" height="16" viewBox="0 0 16 16" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronSmall"></use></svg> Index</h5></summary><div class="tsd-accordion-details"><section class="tsd-index-section"><h3 class="tsd-index-heading">Properties</h3><div class="tsd-index-list"><a href="CloudXR.SessionDelegates.html#onstreamstarted" class="tsd-index-link"><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Property"><use href="../assets/icons.svg#icon-1024"></use></svg><span>on<wbr/>Stream<wbr/>Started?</span></a>
+<a href="CloudXR.SessionDelegates.html#onstreamstopped" class="tsd-index-link"><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Property"><use href="../assets/icons.svg#icon-1024"></use></svg><span>on<wbr/>Stream<wbr/>Stopped?</span></a>
+<a href="CloudXR.SessionDelegates.html#onwebglstatechangebegin" class="tsd-index-link"><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Property"><use href="../assets/icons.svg#icon-1024"></use></svg><span>on<wbr/>WebGLState<wbr/>Change<wbr/>Begin?</span></a>
+<a href="CloudXR.SessionDelegates.html#onwebglstatechangeend" class="tsd-index-link"><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Property"><use href="../assets/icons.svg#icon-1024"></use></svg><span>on<wbr/>WebGLState<wbr/>Change<wbr/>End?</span></a>
+<a href="CloudXR.SessionDelegates.html#onservermessagereceived" class="tsd-index-link"><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Property"><use href="../assets/icons.svg#icon-1024"></use></svg><span>on<wbr/>Server<wbr/>Message<wbr/>Received?</span></a>
+</div></section></div></details></section></section><details class="tsd-panel-group tsd-member-group tsd-accordion" open><summary class="tsd-accordion-summary" data-key="section-Properties"><h2><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg> Properties</h2></summary><section><section class="tsd-panel tsd-member"><a id="onstreamstarted" class="tsd-anchor"></a><h3 class="tsd-anchor-link"><code class="tsd-tag">Optional</code><span>on<wbr/>Stream<wbr/>Started</span><a href="#onstreamstarted" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><div class="tsd-signature"><span class="tsd-kind-property">onStreamStarted</span><span class="tsd-signature-symbol">?:</span> <span class="tsd-signature-symbol">()</span> <span class="tsd-signature-symbol">=&gt;</span> <span class="tsd-signature-type">void</span></div><div class="tsd-comment tsd-typography"><p>Invoked when streaming connects successfully.</p>
+<p>Called when the session transitions to the Connected state
+and streaming is ready to begin. At this point, the session is ready for
+rendering and all WebGL resources have been initialized.</p>
+</div><div class="tsd-comment tsd-typography"><div class="tsd-tag-example"><h4 class="tsd-anchor-link"><a id="example-1" class="tsd-anchor"></a>Example<a href="#example-1" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><pre><code class="typescript"><span class="hl-8">onStreamStarted</span><span class="hl-1">: () </span><span class="hl-6">=&gt;</span><span class="hl-1"> {</span><br/><span class="hl-1">  </span><span class="hl-4">console</span><span class="hl-1">.</span><span class="hl-0">info</span><span class="hl-1">(</span><span class="hl-2">&#39;Ready to render CloudXR content&#39;</span><span class="hl-1">);</span><br/><span class="hl-1">  </span><span class="hl-3">// Start your render loop here</span><br/><span class="hl-1">}</span>
+</code><button type="button">Copy</button></pre>
+
+</div></div></section><section class="tsd-panel tsd-member"><a id="onstreamstopped" class="tsd-anchor"></a><h3 class="tsd-anchor-link"><code class="tsd-tag">Optional</code><span>on<wbr/>Stream<wbr/>Stopped</span><a href="#onstreamstopped" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><div class="tsd-signature"><span class="tsd-kind-property">onStreamStopped</span><span class="tsd-signature-symbol">?:</span> <span class="tsd-signature-symbol">(</span><span class="tsd-kind-parameter">error</span><span class="tsd-signature-symbol">?:</span> <span class="tsd-signature-type">Error</span><span class="tsd-signature-symbol">)</span> <span class="tsd-signature-symbol">=&gt;</span> <span class="tsd-signature-type">void</span></div><div class="tsd-comment tsd-typography"><p>Invoked when streaming stops (either by client or server).</p>
+<p>Called when the session stops streaming, either due to
+a normal disconnection or an error condition. Check the error parameter
+to determine the reason for the stop.</p>
+</div><div class="tsd-type-declaration"><h4>Type declaration</h4><ul class="tsd-parameters"><li class="tsd-parameter-signature"><ul class="tsd-signatures"><li class="tsd-signature"><span class="tsd-signature-symbol">(</span><span class="tsd-kind-parameter">error</span><span class="tsd-signature-symbol">?:</span> <span class="tsd-signature-type">Error</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">void</span></li><li class="tsd-description"><div class="tsd-parameters"><h4 class="tsd-parameters-title">Parameters</h4><ul class="tsd-parameter-list"><li><span><code class="tsd-tag">Optional</code><span class="tsd-kind-parameter">error</span>: <span class="tsd-signature-type">Error</span></span><div class="tsd-comment tsd-typography"><p>Optional error object if streaming stopped due to an error.
+If undefined, the stop was intentional (e.g., disconnect() called).</p>
+</div><div class="tsd-comment tsd-typography"></div></li></ul></div><h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4></li></ul></li></ul></div><div class="tsd-comment tsd-typography"><div class="tsd-tag-example"><h4 class="tsd-anchor-link"><a id="example-2" class="tsd-anchor"></a>Example<a href="#example-2" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><pre><code class="typescript"><span class="hl-8">onStreamStopped</span><span class="hl-1">: (</span><span class="hl-4">error</span><span class="hl-1">) </span><span class="hl-6">=&gt;</span><span class="hl-1"> {</span><br/><span class="hl-1">  </span><span class="hl-9">if</span><span class="hl-1"> (</span><span class="hl-4">error</span><span class="hl-1">) {</span><br/><span class="hl-1">    </span><span class="hl-4">console</span><span class="hl-1">.</span><span class="hl-0">error</span><span class="hl-1">(</span><span class="hl-2">&#39;Streaming error:&#39;</span><span class="hl-1">, </span><span class="hl-4">error</span><span class="hl-1">.</span><span class="hl-4">message</span><span class="hl-1">);</span><br/><span class="hl-1">    </span><span class="hl-3">// Handle error condition</span><br/><span class="hl-1">  } </span><span class="hl-9">else</span><span class="hl-1"> {</span><br/><span class="hl-1">    </span><span class="hl-4">console</span><span class="hl-1">.</span><span class="hl-0">info</span><span class="hl-1">(</span><span class="hl-2">&#39;Streaming stopped normally&#39;</span><span class="hl-1">);</span><br/><span class="hl-1">    </span><span class="hl-3">// Handle normal disconnection</span><br/><span class="hl-1">  }</span><br/><span class="hl-1">}</span>
+</code><button type="button">Copy</button></pre>
+
+</div></div></section><section class="tsd-panel tsd-member"><a id="onwebglstatechangebegin" class="tsd-anchor"></a><h3 class="tsd-anchor-link"><code class="tsd-tag">Optional</code><span>on<wbr/>WebGLState<wbr/>Change<wbr/>Begin</span><a href="#onwebglstatechangebegin" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><div class="tsd-signature"><span class="tsd-kind-property">onWebGLStateChangeBegin</span><span class="tsd-signature-symbol">?:</span> <span class="tsd-signature-symbol">()</span> <span class="tsd-signature-symbol">=&gt;</span> <span class="tsd-signature-type">void</span></div><div class="tsd-comment tsd-typography"><p>Invoked before the session changes any WebGL state.</p>
+<p>Called before the session modifies WebGL state during
+rendering operations. Use this to save the current WebGL state if needed
+for your application's rendering pipeline.</p>
+</div><div class="tsd-comment tsd-typography"><div class="tsd-tag-example"><h4 class="tsd-anchor-link"><a id="example-3" class="tsd-anchor"></a>Example<a href="#example-3" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><pre><code class="typescript"><span class="hl-8">onWebGLStateChangeBegin</span><span class="hl-1">: () </span><span class="hl-6">=&gt;</span><span class="hl-1"> {</span><br/><span class="hl-1">  </span><span class="hl-3">// Save current WebGL state</span><br/><span class="hl-1">  </span><span class="hl-4">gl</span><span class="hl-1">.</span><span class="hl-0">bindFramebuffer</span><span class="hl-1">(</span><span class="hl-4">gl</span><span class="hl-1">.</span><span class="hl-5">FRAMEBUFFER</span><span class="hl-1">, </span><span class="hl-6">null</span><span class="hl-1">);</span><br/><span class="hl-1">}</span>
+</code><button type="button">Copy</button></pre>
+
+</div></div></section><section class="tsd-panel tsd-member"><a id="onwebglstatechangeend" class="tsd-anchor"></a><h3 class="tsd-anchor-link"><code class="tsd-tag">Optional</code><span>on<wbr/>WebGLState<wbr/>Change<wbr/>End</span><a href="#onwebglstatechangeend" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><div class="tsd-signature"><span class="tsd-kind-property">onWebGLStateChangeEnd</span><span class="tsd-signature-symbol">?:</span> <span class="tsd-signature-symbol">()</span> <span class="tsd-signature-symbol">=&gt;</span> <span class="tsd-signature-type">void</span></div><div class="tsd-comment tsd-typography"><p>Invoked after the session changes any WebGL state.</p>
+<p>Called after the session has completed its WebGL state
+modifications during rendering operations. Use this to restore any WebGL
+state that your application needs.</p>
+</div><div class="tsd-comment tsd-typography"><div class="tsd-tag-example"><h4 class="tsd-anchor-link"><a id="example-4" class="tsd-anchor"></a>Example<a href="#example-4" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><pre><code class="typescript"><span class="hl-8">onWebGLStateChangeEnd</span><span class="hl-1">: () </span><span class="hl-6">=&gt;</span><span class="hl-1"> {</span><br/><span class="hl-1">  </span><span class="hl-3">// Restore WebGL state</span><br/><span class="hl-1">  </span><span class="hl-4">gl</span><span class="hl-1">.</span><span class="hl-0">bindFramebuffer</span><span class="hl-1">(</span><span class="hl-4">gl</span><span class="hl-1">.</span><span class="hl-5">FRAMEBUFFER</span><span class="hl-1">, </span><span class="hl-4">myFramebuffer</span><span class="hl-1">);</span><br/><span class="hl-1">}</span>
+</code><button type="button">Copy</button></pre>
+
+</div></div></section><section class="tsd-panel tsd-member"><a id="onservermessagereceived" class="tsd-anchor"></a><h3 class="tsd-anchor-link"><code class="tsd-tag">Optional</code><span>on<wbr/>Server<wbr/>Message<wbr/>Received</span><a href="#onservermessagereceived" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h3><div class="tsd-signature"><span class="tsd-kind-property">onServerMessageReceived</span><span class="tsd-signature-symbol">?:</span> <span class="tsd-signature-symbol">(</span><span class="tsd-kind-parameter">messageData</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Uint8Array</span><span class="tsd-signature-symbol">)</span> <span class="tsd-signature-symbol">=&gt;</span> <span class="tsd-signature-type">void</span></div><div class="tsd-comment tsd-typography"><p>Invoked when a server message is received through any opaque data channel.</p>
+</div><div class="tsd-type-declaration"><h4>Type declaration</h4><ul class="tsd-parameters"><li class="tsd-parameter-signature"><ul class="tsd-signatures"><li class="tsd-signature"><span class="tsd-signature-symbol">(</span><span class="tsd-kind-parameter">messageData</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Uint8Array</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">void</span></li><li class="tsd-description"><div class="tsd-parameters"><h4 class="tsd-parameters-title">Parameters</h4><ul class="tsd-parameter-list"><li><span><span class="tsd-kind-parameter">messageData</span>: <span class="tsd-signature-type">Uint8Array</span></span><div class="tsd-comment tsd-typography"><p>Raw message data from the server</p>
+</div><div class="tsd-comment tsd-typography"></div></li></ul></div><h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4></li></ul></li></ul></div><div class="tsd-comment tsd-typography"><div class="tsd-tag-example"><h4 class="tsd-anchor-link"><a id="example-5" class="tsd-anchor"></a>Example<a href="#example-5" aria-label="Permalink" class="tsd-anchor-icon"><svg viewBox="0 0 24 24" aria-hidden="true"><use href="../assets/icons.svg#icon-anchor"></use></svg></a></h4><pre><code class="typescript"><span class="hl-8">onServerMessageReceived</span><span class="hl-1">: (</span><span class="hl-4">messageData</span><span class="hl-1">) </span><span class="hl-6">=&gt;</span><span class="hl-1"> {</span><br/><span class="hl-1">  </span><span class="hl-6">const</span><span class="hl-1"> </span><span class="hl-5">messageString</span><span class="hl-1"> = </span><span class="hl-6">new</span><span class="hl-1"> </span><span class="hl-0">TextDecoder</span><span class="hl-1">().</span><span class="hl-0">decode</span><span class="hl-1">(</span><span class="hl-4">messageData</span><span class="hl-1">);</span><br/><span class="hl-1">  </span><span class="hl-4">console</span><span class="hl-1">.</span><span class="hl-0">log</span><span class="hl-1">(</span><span class="hl-2">&#39;Received message:&#39;</span><span class="hl-1">, </span><span class="hl-4">messageString</span><span class="hl-1">);</span><br/><br/><span class="hl-1">  </span><span class="hl-3">// Parse JSON if expected</span><br/><span class="hl-1">  </span><span class="hl-9">try</span><span class="hl-1"> {</span><br/><span class="hl-1">    </span><span class="hl-6">const</span><span class="hl-1"> </span><span class="hl-5">message</span><span class="hl-1"> = </span><span class="hl-5">JSON</span><span class="hl-1">.</span><span class="hl-0">parse</span><span class="hl-1">(</span><span class="hl-4">messageString</span><span class="hl-1">);</span><br/><span class="hl-1">    </span><span class="hl-4">console</span><span class="hl-1">.</span><span class="hl-0">log</span><span class="hl-1">(</span><span class="hl-2">&#39;Parsed message:&#39;</span><span class="hl-1">, </span><span class="hl-4">message</span><span class="hl-1">);</span><br/><span class="hl-1">  } </span><span class="hl-9">catch</span><span class="hl-1"> (</span><span class="hl-4">error</span><span class="hl-1">) {</span><br/><span class="hl-1">    </span><span class="hl-4">console</span><span class="hl-1">.</span><span class="hl-0">log</span><span class="hl-1">(</span><span class="hl-2">&#39;Raw binary data:&#39;</span><span class="hl-1">, </span><span class="hl-4">messageData</span><span class="hl-1">);</span><br/><span class="hl-1">  }</span><br/><span class="hl-1">}</span>
+</code><button type="button">Copy</button></pre>
+
+</div></div></section></section></details></div><div class="col-sidebar"><div class="page-menu"><div class="tsd-navigation settings"><details class="tsd-accordion"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>Settings</h3></summary><div class="tsd-accordion-details"><div class="tsd-filter-visibility"><span class="settings-label">Member Visibility</span><ul id="tsd-filter-options"><li class="tsd-filter-item"><label class="tsd-filter-input"><input type="checkbox" id="tsd-filter-inherited" name="inherited" checked/><svg width="32" height="32" viewBox="0 0 32 32" aria-hidden="true"><rect class="tsd-checkbox-background" width="30" height="30" x="1" y="1" rx="6" fill="none"></rect><path class="tsd-checkbox-checkmark" d="M8.35422 16.8214L13.2143 21.75L24.6458 10.25" stroke="none" stroke-width="3.5" stroke-linejoin="round" fill="none"></path></svg><span>Inherited</span></label></li></ul></div><div class="tsd-theme-toggle"><label class="settings-label" for="tsd-theme">Theme</label><select id="tsd-theme"><option value="os">OS</option><option value="light">Light</option><option value="dark">Dark</option></select></div></div></details></div><details open class="tsd-accordion tsd-page-navigation"><summary class="tsd-accordion-summary"><h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>On This Page</h3></summary><div class="tsd-accordion-details"><details open class="tsd-accordion tsd-page-navigation-section"><summary class="tsd-accordion-summary" data-key="section-Properties"><svg width="20" height="20" viewBox="0 0 24 24" fill="none" aria-hidden="true"><use href="../assets/icons.svg#icon-chevronDown"></use></svg>Properties</summary><div><a href="#onstreamstarted" class=""><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Property"><use href="../assets/icons.svg#icon-1024"></use></svg><span>on<wbr/>Stream<wbr/>Started</span></a><a href="#onstreamstopped" class=""><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Property"><use href="../assets/icons.svg#icon-1024"></use></svg><span>on<wbr/>Stream<wbr/>Stopped</span></a><a href="#onwebglstatechangebegin" class=""><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Property"><use href="../assets/icons.svg#icon-1024"></use></svg><span>on<wbr/>WebGLState<wbr/>Change<wbr/>Begin</span></a><a href="#onwebglstatechangeend" class=""><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Property"><use href="../assets/icons.svg#icon-1024"></use></svg><span>on<wbr/>WebGLState<wbr/>Change<wbr/>End</span></a><a href="#onservermessagereceived" class=""><svg class="tsd-kind-icon" viewBox="0 0 24 24" aria-label="Property"><use href="../assets/icons.svg#icon-1024"></use></svg><span>on<wbr/>Server<wbr/>Message<wbr/>Received</span></a></div></details></div></details></div><div class="site-menu"><nav class="tsd-navigation"><a href="../modules.html">CloudXR.js SDK Documentation - v6.0.0-beta</a><ul class="tsd-small-nested-navigation" id="tsd-nav-container"><li>Loading...</li></ul></nav></div></div></div><footer><p class="tsd-generator">Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></footer><div class="overlay"></div></body></html>
--- a/deps/cloudxr/docs/interfaces/CloudXR.SessionOptions.html
+++ b/deps/cloudxr/docs/interfaces/CloudXR.SessionOptions.html
--- a/deps/cloudxr/docs/media/HEROICONS_LICENSE
+++ b/deps/cloudxr/docs/media/HEROICONS_LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) Tailwind Labs, Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
--- a/deps/cloudxr/docs/media/LICENSE
+++ b/deps/cloudxr/docs/media/LICENSE
@@ -0,0 +1,307 @@
+NVIDIA SOFTWARE EVALUATION LICENSE AGREEMENT
+
+IMPORTANT NOTICE – PLEASE READ AND AGREE BEFORE USING THE SOFTWARE
+
+This software evaluation license agreement (“Agreement”) is a legal agreement between you, whether an
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+least the same degree of care that you use to protect your own similar confidential and proprietary
+information, but no less than a reasonable degree of care. Confidential information includes, but is not
+limited to, the Software, including its features and functionality, Derivatives, and any results of
+benchmarking or other competitive analysis or regression or performance data relating to the Software.
+No Publicity. You may not issue any public statements about this Agreement, disclose the Software or
+Derivatives, or any information or results related to your use of the Software, without prior written approval
+of NVIDIA.
+
+11. Term and Termination.
+
+11.1 Term. This Agreement has a duration of twelve (12) months starting from the date of initial
+download (even if you download the same version or updates of the Software later and it is
+accompanied by this Agreement or another Agreement), unless terminated earlier in accordance
+with this Agreement.
+
+11.2 Termination for Convenience. Either party may terminate this Agreement at any time with thirty (30)
+days’ advance written notice to the other party.
+
+11.3 Termination for Cause. If you commence or participate in any legal proceeding against NVIDIA with
+respect to the Software, this Agreement will terminate immediately without notice. Either party may
+terminate this Agreement upon notice for cause if:
+(a) the other party fails to cure a material breach of this Agreement within ten (10) days of the
+non-breaching party’s notice of the breach; or
+(b) the other party breaches its confidentiality obligations or license rights under this
+Agreement, which termination will be effective immediately upon written notice.
+
+11.4 Effect of Termination. Upon any expiration or termination of this Agreement, you will promptly
+(a) stop using and return, delete or destroy NVIDIA confidential information and all Software
+received under this Agreement, and (b) delete or destroy Derivatives created under this Agreement,
+unless an authorized NVIDIA representative provides prior written approval that you may keep a
+copy of the Derivatives solely for archival purposes. Upon written request, you will certify in writing
+that you have complied with your obligations under this “Effect of Termination” Section.
+
+11.5 Survival. The “License Grant to NVIDIA”, “Updates”, “Components Under Other Licenses”,
+“Ownership”, “Feedback”, “Confidentiality”, “No Publicity”, “Effect of Termination”, “Survival”,
+“Disclaimer of Warranties”, “Limitation of Liability”, “Indemnity” and all “General” Sections of this
+Agreement will survive any expiration or termination of this Agreement.
+
+12. Disclaimer of Warranties. THE SOFTWARE IS PROVIDED BY NVIDIA AS-IS AND WITH ALL FAULTS. TO THE
+MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW, NVIDIA DISCLAIMS ALL WARRANTIES AND
+REPRESENTATIONS OF ANY KIND, WHETHER EXPRESS, IMPLIED OR STATUTORY, RELATING TO OR ARISING
+UNDER THIS AGREEMENT, INCLUDING, WITHOUT LIMITATION, THE WARRANTIES OF TITLE,
+NONINFRINGEMENT, MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, USAGE OF TRADE AND
+COURSE OF DEALING. NVIDIA DOES NOT WARRANT OR ASSUME RESPONSIBILITY FOR THE ACCURACY OR
+COMPLETENESS OF ANY THIRD-PARTY INFORMATION, TEXT, GRAPHICS, LINKS CONTAINED IN THE
+SOFTWARE. WITHOUT LIMITING THE FOREGOING, NVIDIA DOES NOT WARRANT THAT THE SOFTWARE WILL
+MEET YOUR REQUIREMENTS, ANY DEFECTS OR ERRORS WILL BE CORRECTED, ANY CERTAIN CONTENT WILL
+BE AVAILABLE; OR THAT THE SOFTWARE IS FREE OF VIRUSES OR OTHER HARMFUL COMPONENTS. NO
+INFORMATION OR ADVICE GIVEN BY NVIDIA WILL IN ANY WAY INCREASE THE SCOPE OF ANY WARRANTY
+EXPRESSLY PROVIDED IN THIS AGREEMENT. YOU ARE SOLELY RESPONSIBLE FOR DETERMINING THE
+APPROPRIATENESS OF USING THE SOFTWARE OR DERIVATIVES AND ASSUME ANY RISKS ASSOCIATED WITH
+YOUR USE OF THE SOFTWARE OR DERIVATIVES.
+
+13. Limitations of Liability.
+
+13.1 EXCLUSIONS. TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW, IN NO EVENT WILL
+NVIDIA BE LIABLE FOR ANY (A) INDIRECT, PUNITIVE, SPECIAL, INCIDENTAL OR CONSEQUENTIAL
+DAMAGES, OR (B) DAMAGES FOR THE (I) COST OF PROCURING SUBSTITUTE GOODS OR (II) LOSS OF
+PROFITS, REVENUES, USE, DATA OR GOODWILL ARISING OUT OF OR RELATED TO THIS AGREEMENT,
+WHETHER BASED ON BREACH OF CONTRACT, TORT (INCLUDING NEGLIGENCE), STRICT LIABILITY, OR
+OTHERWISE, AND EVEN IF NVIDIA HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES AND
+EVEN IF A PARTY’S REMEDIES FAIL THEIR ESSENTIAL PURPOSE.
+
+13.2 DAMAGES CAP. ADDITIONALLY, TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW,
+NVIDIA’S TOTAL CUMULATIVE AGGREGATE LIABILITY FOR ANY AND ALL LIABILITIES, OBLIGATIONS OR
+CLAIMS ARISING OUT OF OR RELATED TO THIS AGREEMENT WILL NOT EXCEED ONE HUNDRED U.S.
+DOLLARS (US$100).
+
+14. Indemnity. You will defend, indemnify and hold harmless NVIDIA and its affiliates, and their respective
+employees, contractors, agents, officers and directors, from and against any and all third party claims,
+damages, obligations, losses, liabilities, costs or debt, fines, restitutions and expenses (including but not
+limited to attorney’s fees and costs incident to establishing the right of indemnification) arising out of use of
+the Software and Derivatives outside of the scope of this Agreement or in breach of the terms of this
+Agreement.
+
+15. General.
+
+15.1 Governing Law and Jurisdiction. This Agreement will be governed in all respects by the laws of the
+United States and the laws of the State of Delaware, without regard to conflict of laws principles or
+the United Nations Convention on Contracts for the International Sale of Goods. The state and
+federal courts residing in Santa Clara County, California will have exclusive jurisdiction over any
+dispute or claim arising out of or related to this Agreement, and the parties irrevocably consent to
+personal jurisdiction and venue in those courts; except that either party may apply for injunctive
+remedies or an equivalent type of urgent legal relief in any jurisdiction.
+
+15.2 Independent Contractors. The parties are independent contractors, and this Agreement does not
+create a joint venture, partnership, agency or other form of business association between the
+parties. Neither party will have the power to bind the other party or incur any obligation on its
+behalf without the other party’s prior written consent. Nothing in this Agreement prevents either
+party from participating in similar arrangements with third parties.
+
+15.3 No Assignment. NVIDIA may assign, delegate or transfer its rights or obligations under this
+Agreement by any means or operation of law. You may not, without NVIDIA’s prior written consent,
+assign, delegate or transfer any of your rights or obligations under this Agreement by any means or
+operation of law, and any attempt to do so is null and void.
+
+15.4 No Waiver. No failure or delay by a party to enforce any term or obligation of this Agreement will
+operate as a waiver by that party, or prevent the enforcement of such term or obligation later.
+
+15.5 Trade Compliance. You agree to comply with all applicable export, import, trade and economic
+sanctions laws and regulations, as amended, including without limitation U.S. Export Administration
+Regulations and Office of Foreign Assets Control regulations. You confirm (a) your understanding
+that export or reexport of certain NVIDIA products or technologies may require a license or other
+approval from appropriate authorities and (b) that you will not export or reexport any products or
+technology, directly or indirectly, without first obtaining any required license or other approval from
+appropriate authorities, (i) to any countries that are subject to any U.S. or local export restrictions
+(currently including, but not necessarily limited to, Belarus, Cuba, Iran, North Korea, Russia, Syria,
+the Region of Crimea, Donetsk People’s Republic Region and Luhansk People’s Republic Region); (ii)
+to any end-user who you know or have reason to know will utilize them in the design, development
+or production of nuclear, chemical or biological weapons, missiles, rocket systems, unmanned air
+vehicles capable of a maximum range of at least 300 kilometers, regardless of payload, or intended
+for military end-use, or any weapons of mass destruction; (iii) to any end-user who has been
+prohibited from participating in the U.S. or local export transactions by any governing authority; or
+(iv) to any known military or military-intelligence end-user or for any known military or military-
+intelligence end-use in accordance with U.S. trade compliance laws and regulations.
+
+15.6 Government Rights. The Software, documentation and technology (“Protected Items”) are
+“Commercial products” as this term is defined at 48 C.F.R. 2.101, consisting of “commercial
+computer software” and “commercial computer software documentation” as such terms are used
+in, respectively, 48 C.F.R. 12.212 and 48 C.F.R. 227.7202 & 252.227-7014(a)(1). Before any Protected
+Items are supplied to the U.S. Government, you will (i) inform the U.S. Government in writing that
+the Protected Items are and must be treated as commercial computer software and commercial
+computer software documentation developed at private expense; (ii) inform the U.S. Government
+that the Protected Items are provided subject to the terms of the Agreement; and (iii) mark the
+Protected Items as commercial computer software and commercial computer software
+documentation developed at private expense. In no event will you permit the U.S. Government to
+acquire rights in Protected Items beyond those specified in 48 C.F.R. 52.227-19(b)(1)-(2) or 252.227-
+7013(c) except as expressly approved by NVIDIA in writing.
+
+15.7 Notices. Please direct your legal notices or other correspondence to legalnotices@nvidia.com with a
+copy mailed to NVIDIA Corporation, 2788 San Tomas Expressway, Santa Clara, California 95051,
+United States of America, Attention: Legal Department. If NVIDIA needs to contact you about the
+Software, you consent to receive the notices by email and agree that such notices will satisfy any
+legal communication requirements.
+
+15.8 Severability. If a court of competent jurisdiction rules that a provision of this Agreement is
+unenforceable, that provision will be deemed modified to the extent necessary to make it
+enforceable and the remainder of this Agreement will continue in full force and effect.
+
+15.9 Amendment. Any amendment to this Agreement must be in writing and signed by authorized
+representatives of both parties.
+
+15.10 Entire Agreement. Regarding the subject matter of this Agreement, the parties agree that (a) this
+Agreement constitutes the entire and exclusive agreement between the parties and supersedes all
+prior and contemporaneous communications and (b) any additional or different terms or conditions,
+whether contained in purchase orders, order acknowledgments, invoices or otherwise, will not be
+binding and are null and void.
+
+(v. February 25, 2025)
+
+NVIDIA Confidential
--- a/deps/cloudxr/docs/media/LICENSE-1
+++ b/deps/cloudxr/docs/media/LICENSE-1
@@ -0,0 +1,307 @@
+NVIDIA SOFTWARE EVALUATION LICENSE AGREEMENT
+
+IMPORTANT NOTICE – PLEASE READ AND AGREE BEFORE USING THE SOFTWARE
+
+This software evaluation license agreement (“Agreement”) is a legal agreement between you, whether an
+individual or entity, (“you”) and NVIDIA Corporation and its affiliates (“NVIDIA”) and governs the use of certain
+NVIDIA CloudXR software and documentation that NVIDIA delivers to you under this Agreement (“Software”).
+NVIDIA and you are each a “party” and collectively the “parties.”
+This Agreement can be accepted only by an adult of legal age of majority in the country in which the Software is
+used. If you don’t have the required age or authority to accept this Agreement, or if you don’t accept all the
+terms and conditions of this Agreement, do not use the Software.
+
+1. License Grants.
+
+1.1 License Grant to You. The Software is licensed, not sold. Subject to the terms of this Agreement,
+NVIDIA grants you a limited, non-exclusive, revocable, non-transferable, non-sublicensable (except
+as expressly granted in this Agreement), license to:
+(a) access, install and use copies of the Software,
+(b) configure the Software using configuration files provided (if applicable),
+(c) modify and create derivative works of any source code NVIDIA delivers to you as part of the
+Software (“Derivatives”) (if applicable).
+
+All the foregoing grants are only for internal test and evaluation purposes and, as applicable, for use (a) in
+client systems, or (b) in server systems with NVIDIA GPUs (“Purpose”).
+
+1.2 License Grant to NVIDIA. Subject to the terms of this Agreement, you grant NVIDIA a non-exclusive,
+perpetual, irrevocable, sublicensable, worldwide, royalty-free, fully paid-up and transferable license,
+under your intellectual property rights, to publicly perform, publicly display, reproduce, use, make,
+have made, sell, offer for sale, distribute (through multiple tiers of distribution), import, create
+derivative works of and otherwise commercialize and exploit at NVIDIA’s discretion any Derivatives
+created by or for you. You may, but are not required to, deliver any Derivatives to NVIDIA.
+
+2. License Restrictions. Your license to use the Software and Derivatives is restricted as stated in this “License
+Restrictions” Section. You will cooperate with NVIDIA and, upon NVIDIA’s written request, you will confirm
+in writing and provide reasonably requested information to verify your compliance with the terms of this
+Agreement. You may not:
+
+2.1 Use the Software or Derivatives for any purpose other than the Purpose, including but not limited to
+in production;
+
+2.2 Sell, rent, sublicense, transfer, distribute or otherwise make available to others (except Authorized
+Users as stated in the “Authorized Users” Section) any portion of the Software or Derivatives, except
+as expressly granted in Section 1.1 (“License Grant to You”);
+
+2.3 Reverse engineer, decompile, or disassemble the Software components provided in binary form, nor
+attempt in any other manner to obtain source code of such Software;
+
+2.4 Modify or create derivative works of the Software, except as expressly granted in Section 1.1
+(“License Grant to You”);
+
+2.5 Change or remove copyright or other proprietary notices in the Software;
+
+2.6 Bypass, disable, or circumvent any technical limitation, encryption, security, digital rights
+management or authentication mechanism in the Software;
+
+2.7 Use the Software or Derivatives in any manner that would cause them to become subject to an open
+source software license; subject to the terms in Section 7 (“Components Under Other Licenses”);
+
+2.8 Use the Software or Derivatives for the purpose of developing competing products or technologies
+or assist a third party in such activities;
+
+2.9 Replace any Software components governed by this Agreement with other software that
+implements NVIDIA APIs;
+
+2.10 Use the Software or Derivatives in violation of any applicable law or regulation in the relevant
+jurisdictions; or
+
+2.11 Use the Software in or with any system or application where the use or failure of such system or
+application developed or deployed with Software could result in injury, death or catastrophic
+damage (“Mission Critical Applications”). NVIDIA will not be liable to you or any third party, in whole
+or in part, for any claims or damages arising from uses in Mission Critical Applications.
+
+2.12 Disclose any evaluation or test results regarding the Software or Derivatives without NVIDIA’s prior
+written consent.
+
+3. Authorized Users. You may allow employees and contractors of your entity or of your subsidiary(ies), and
+for educational institutions also enrolled students, to internally access and use the Software as authorized
+by this Agreement from your secure network to perform the work authorized by this Agreement on your
+behalf. You are responsible for the compliance with the terms of this Agreement by your authorized users.
+Any act or omission that if committed by you would constitute a breach of this Agreement will be deemed to
+constitute a breach of this Agreement if committed by your authorized users.
+
+4. Pre-Release. Software versions identified as alpha, beta, preview, early access or otherwise as pre-release
+may not be fully functional, may contain errors or design flaws, and may have reduced or different security,
+privacy, availability and reliability standards relative to NVIDIA commercial offerings. You use pre-release
+Software at your own risk. NVIDIA did not design or test the Software for use in production or business
+critical systems. NVIDIA may choose not to make available a commercial version of pre-release Software.
+NVIDIA may also choose to abandon development and terminate the availability of pre-release Software at
+any time without liability.
+
+5. Your Privacy: Collection and Use of Information.
+
+5.1 Privacy Policy. Please review the NVIDIA Privacy Policy, located at https://www.nvidia.com/enus/about-nvidia/privacy-policy, which explains NVIDIA’s policy for collecting and using data, as well
+as visit the NVIDIA Privacy Center, located at https://www.nvidia.com/en-us/privacy-center, to
+manage your consent and privacy preferences.
+
+5.2 Collection Purposes. You also acknowledge that the Software collects data for the following
+purposes: (a) properly configure and optimize products for use with Software; and (b) improve
+NVIDIA products and services. Information collected by the Software includes: (i) application
+configuration; (ii) browser version; (iii) and session metadata (i.e. performance and usage
+statistics). Additionally, NVIDIA may collect certain personal information, such as your name
+and email address or those of your authorized users, and other information necessary to
+authenticate and enable you or your authorized users’ access to the Software. Where appropriate
+you will disclose to, and obtain any necessary consent from, your authorized users to allow NVIDIA
+to collect such information.
+
+5.3 Third Party Privacy Practices. The Software may contain links to third party websites and services.
+NVIDIA encourages you to review the privacy statements on those sites and services that you choose
+to visit to understand how they may collect, use and share your data. NVIDIA is not responsible for
+the privacy statements or practices of third-party sites or services.
+
+6. Updates. NVIDIA may at any time and at its option, change, discontinue, or deprecate any part, or all, of the
+Software, or change or remove features or functionality, or make available patches, workarounds or other
+updates to the Software. Unless the updates are provided with their separate governing terms, they are
+deemed part of the Software licensed to you under this Agreement, and your continued use of the Software
+is deemed acceptance of such changes.
+
+7. Components Under Other Licenses. The Software may include or be distributed with components provided
+with separate legal notices or terms that accompany the components, such as open source software licenses
+and other license terms (“Other Licenses”). The components are subject to the applicable Other Licenses,
+including any proprietary notices, disclaimers, requirements and extended use rights; except that this
+Agreement will prevail regarding the use of third-party open source software, unless a third-party open
+source software license requires its license terms to prevail. Open source software license means any
+software, data or documentation subject to any license identified as an open source license by the Open
+Source Initiative (http://opensource.org), Free Software Foundation (http://www.fsf.org) or other similar
+open source organization or listed by the Software Package Data Exchange (SPDX) Workgroup under the
+Linux Foundation (http://www.spdx.org).
+
+8. Ownership.
+
+8.1 NVIDIA Ownership. The Software, including all intellectual property rights, is and will remain the sole
+and exclusive property of NVIDIA or its licensors. Except as expressly granted in this Agreement,
+(a) NVIDIA reserves all rights, interests and remedies in connection with the Software, and (b) no
+other license or right is granted to you by implication, estoppel or otherwise.
+
+8.2 Your Ownership. Subject to the rights of NVIDIA and its suppliers in the Software, which continue to
+be licensed as stated in this Agreement, even when incorporated in your products, and the extent
+permitted by applicable law, as between you and NVIDIA, you hold all rights, title and interest in and
+to your services, applications and Derivatives you develop as permitted in this Agreement including
+their respective intellectual property rights.
+
+9. Feedback. You may, but are not obligated to, provide suggestions, requests, fixes, modifications,
+enhancements or other feedback regarding your use of the Software (“Feedback”). Feedback, even if
+designated as confidential by you, will not create any confidentiality obligation for NVIDIA or its affiliates. If
+you provide Feedback, you hereby grant NVIDIA, its affiliates and its designees a nonexclusive, perpetual,
+irrevocable, sublicensable, worldwide, royalty-free, fully paid-up and transferable license, under your
+intellectual property rights, to publicly perform, publicly display, reproduce, use, make, have made, sell,
+offer for sale, distribute (through multiple tiers of distribution), import, create derivative works of and
+otherwise commercialize and exploit the Feedback at NVIDIA’s discretion.
+
+10. Confidentiality. You may use confidential information only to exercise your rights and perform your
+obligations under this Agreement. You will not disclose, nor authorize others to disclose NVIDIA Confidential
+Information to any third party, except as expressly authorized in this Agreement and as necessary for the
+Purpose, without obtaining NVIDIA’s prior written approval. Each recipient of confidential information must
+be subject to a written agreement that includes confidentiality obligations consistent with these terms and
+must have a need to know for the Purpose. You will protect the NVIDIA Confidential Information with at
+least the same degree of care that you use to protect your own similar confidential and proprietary
+information, but no less than a reasonable degree of care. Confidential information includes, but is not
+limited to, the Software, including its features and functionality, Derivatives, and any results of
+benchmarking or other competitive analysis or regression or performance data relating to the Software.
+No Publicity. You may not issue any public statements about this Agreement, disclose the Software or
+Derivatives, or any information or results related to your use of the Software, without prior written approval
+of NVIDIA.
+
+11. Term and Termination.
+
+11.1 Term. This Agreement has a duration of twelve (12) months starting from the date of initial
+download (even if you download the same version or updates of the Software later and it is
+accompanied by this Agreement or another Agreement), unless terminated earlier in accordance
+with this Agreement.
+
+11.2 Termination for Convenience. Either party may terminate this Agreement at any time with thirty (30)
+days’ advance written notice to the other party.
+
+11.3 Termination for Cause. If you commence or participate in any legal proceeding against NVIDIA with
+respect to the Software, this Agreement will terminate immediately without notice. Either party may
+terminate this Agreement upon notice for cause if:
+(a) the other party fails to cure a material breach of this Agreement within ten (10) days of the
+non-breaching party’s notice of the breach; or
+(b) the other party breaches its confidentiality obligations or license rights under this
+Agreement, which termination will be effective immediately upon written notice.
+
+11.4 Effect of Termination. Upon any expiration or termination of this Agreement, you will promptly
+(a) stop using and return, delete or destroy NVIDIA confidential information and all Software
+received under this Agreement, and (b) delete or destroy Derivatives created under this Agreement,
+unless an authorized NVIDIA representative provides prior written approval that you may keep a
+copy of the Derivatives solely for archival purposes. Upon written request, you will certify in writing
+that you have complied with your obligations under this “Effect of Termination” Section.
+
+11.5 Survival. The “License Grant to NVIDIA”, “Updates”, “Components Under Other Licenses”,
+“Ownership”, “Feedback”, “Confidentiality”, “No Publicity”, “Effect of Termination”, “Survival”,
+“Disclaimer of Warranties”, “Limitation of Liability”, “Indemnity” and all “General” Sections of this
+Agreement will survive any expiration or termination of this Agreement.
+
+12. Disclaimer of Warranties. THE SOFTWARE IS PROVIDED BY NVIDIA AS-IS AND WITH ALL FAULTS. TO THE
+MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW, NVIDIA DISCLAIMS ALL WARRANTIES AND
+REPRESENTATIONS OF ANY KIND, WHETHER EXPRESS, IMPLIED OR STATUTORY, RELATING TO OR ARISING
+UNDER THIS AGREEMENT, INCLUDING, WITHOUT LIMITATION, THE WARRANTIES OF TITLE,
+NONINFRINGEMENT, MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, USAGE OF TRADE AND
+COURSE OF DEALING. NVIDIA DOES NOT WARRANT OR ASSUME RESPONSIBILITY FOR THE ACCURACY OR
+COMPLETENESS OF ANY THIRD-PARTY INFORMATION, TEXT, GRAPHICS, LINKS CONTAINED IN THE
+SOFTWARE. WITHOUT LIMITING THE FOREGOING, NVIDIA DOES NOT WARRANT THAT THE SOFTWARE WILL
+MEET YOUR REQUIREMENTS, ANY DEFECTS OR ERRORS WILL BE CORRECTED, ANY CERTAIN CONTENT WILL
+BE AVAILABLE; OR THAT THE SOFTWARE IS FREE OF VIRUSES OR OTHER HARMFUL COMPONENTS. NO
+INFORMATION OR ADVICE GIVEN BY NVIDIA WILL IN ANY WAY INCREASE THE SCOPE OF ANY WARRANTY
+EXPRESSLY PROVIDED IN THIS AGREEMENT. YOU ARE SOLELY RESPONSIBLE FOR DETERMINING THE
+APPROPRIATENESS OF USING THE SOFTWARE OR DERIVATIVES AND ASSUME ANY RISKS ASSOCIATED WITH
+YOUR USE OF THE SOFTWARE OR DERIVATIVES.
+
+13. Limitations of Liability.
+
+13.1 EXCLUSIONS. TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW, IN NO EVENT WILL
+NVIDIA BE LIABLE FOR ANY (A) INDIRECT, PUNITIVE, SPECIAL, INCIDENTAL OR CONSEQUENTIAL
+DAMAGES, OR (B) DAMAGES FOR THE (I) COST OF PROCURING SUBSTITUTE GOODS OR (II) LOSS OF
+PROFITS, REVENUES, USE, DATA OR GOODWILL ARISING OUT OF OR RELATED TO THIS AGREEMENT,
+WHETHER BASED ON BREACH OF CONTRACT, TORT (INCLUDING NEGLIGENCE), STRICT LIABILITY, OR
+OTHERWISE, AND EVEN IF NVIDIA HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES AND
+EVEN IF A PARTY’S REMEDIES FAIL THEIR ESSENTIAL PURPOSE.
+
+13.2 DAMAGES CAP. ADDITIONALLY, TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW,
+NVIDIA’S TOTAL CUMULATIVE AGGREGATE LIABILITY FOR ANY AND ALL LIABILITIES, OBLIGATIONS OR
+CLAIMS ARISING OUT OF OR RELATED TO THIS AGREEMENT WILL NOT EXCEED ONE HUNDRED U.S.
+DOLLARS (US$100).
+
+14. Indemnity. You will defend, indemnify and hold harmless NVIDIA and its affiliates, and their respective
+employees, contractors, agents, officers and directors, from and against any and all third party claims,
+damages, obligations, losses, liabilities, costs or debt, fines, restitutions and expenses (including but not
+limited to attorney’s fees and costs incident to establishing the right of indemnification) arising out of use of
+the Software and Derivatives outside of the scope of this Agreement or in breach of the terms of this
+Agreement.
+
+15. General.
+
+15.1 Governing Law and Jurisdiction. This Agreement will be governed in all respects by the laws of the
+United States and the laws of the State of Delaware, without regard to conflict of laws principles or
+the United Nations Convention on Contracts for the International Sale of Goods. The state and
+federal courts residing in Santa Clara County, California will have exclusive jurisdiction over any
+dispute or claim arising out of or related to this Agreement, and the parties irrevocably consent to
+personal jurisdiction and venue in those courts; except that either party may apply for injunctive
+remedies or an equivalent type of urgent legal relief in any jurisdiction.
+
+15.2 Independent Contractors. The parties are independent contractors, and this Agreement does not
+create a joint venture, partnership, agency or other form of business association between the
+parties. Neither party will have the power to bind the other party or incur any obligation on its
+behalf without the other party’s prior written consent. Nothing in this Agreement prevents either
+party from participating in similar arrangements with third parties.
+
+15.3 No Assignment. NVIDIA may assign, delegate or transfer its rights or obligations under this
+Agreement by any means or operation of law. You may not, without NVIDIA’s prior written consent,
+assign, delegate or transfer any of your rights or obligations under this Agreement by any means or
+operation of law, and any attempt to do so is null and void.
+
+15.4 No Waiver. No failure or delay by a party to enforce any term or obligation of this Agreement will
+operate as a waiver by that party, or prevent the enforcement of such term or obligation later.
+
+15.5 Trade Compliance. You agree to comply with all applicable export, import, trade and economic
+sanctions laws and regulations, as amended, including without limitation U.S. Export Administration
+Regulations and Office of Foreign Assets Control regulations. You confirm (a) your understanding
+that export or reexport of certain NVIDIA products or technologies may require a license or other
+approval from appropriate authorities and (b) that you will not export or reexport any products or
+technology, directly or indirectly, without first obtaining any required license or other approval from
+appropriate authorities, (i) to any countries that are subject to any U.S. or local export restrictions
+(currently including, but not necessarily limited to, Belarus, Cuba, Iran, North Korea, Russia, Syria,
+the Region of Crimea, Donetsk People’s Republic Region and Luhansk People’s Republic Region); (ii)
+to any end-user who you know or have reason to know will utilize them in the design, development
+or production of nuclear, chemical or biological weapons, missiles, rocket systems, unmanned air
+vehicles capable of a maximum range of at least 300 kilometers, regardless of payload, or intended
+for military end-use, or any weapons of mass destruction; (iii) to any end-user who has been
+prohibited from participating in the U.S. or local export transactions by any governing authority; or
+(iv) to any known military or military-intelligence end-user or for any known military or military-
+intelligence end-use in accordance with U.S. trade compliance laws and regulations.
+
+15.6 Government Rights. The Software, documentation and technology (“Protected Items”) are
+“Commercial products” as this term is defined at 48 C.F.R. 2.101, consisting of “commercial
+computer software” and “commercial computer software documentation” as such terms are used
+in, respectively, 48 C.F.R. 12.212 and 48 C.F.R. 227.7202 & 252.227-7014(a)(1). Before any Protected
+Items are supplied to the U.S. Government, you will (i) inform the U.S. Government in writing that
+the Protected Items are and must be treated as commercial computer software and commercial
+computer software documentation developed at private expense; (ii) inform the U.S. Government
+that the Protected Items are provided subject to the terms of the Agreement; and (iii) mark the
+Protected Items as commercial computer software and commercial computer software
+documentation developed at private expense. In no event will you permit the U.S. Government to
+acquire rights in Protected Items beyond those specified in 48 C.F.R. 52.227-19(b)(1)-(2) or 252.227-
+7013(c) except as expressly approved by NVIDIA in writing.
+
+15.7 Notices. Please direct your legal notices or other correspondence to legalnotices@nvidia.com with a
+copy mailed to NVIDIA Corporation, 2788 San Tomas Expressway, Santa Clara, California 95051,
+United States of America, Attention: Legal Department. If NVIDIA needs to contact you about the
+Software, you consent to receive the notices by email and agree that such notices will satisfy any
+legal communication requirements.
+
+15.8 Severability. If a court of competent jurisdiction rules that a provision of this Agreement is
+unenforceable, that provision will be deemed modified to the extent necessary to make it
+enforceable and the remainder of this Agreement will continue in full force and effect.
+
+15.9 Amendment. Any amendment to this Agreement must be in writing and signed by authorized
+representatives of both parties.
+
+15.10 Entire Agreement. Regarding the subject matter of this Agreement, the parties agree that (a) this
+Agreement constitutes the entire and exclusive agreement between the parties and supersedes all
+prior and contemporaneous communications and (b) any additional or different terms or conditions,
+whether contained in purchase orders, order acknowledgments, invoices or otherwise, will not be
+binding and are null and void.
+
+(v. February 25, 2025)
+
+NVIDIA Confidential
--- a/deps/cloudxr/docs/media/LICENSE-2
+++ b/deps/cloudxr/docs/media/LICENSE-2
@@ -0,0 +1,307 @@
+NVIDIA SOFTWARE EVALUATION LICENSE AGREEMENT
+
+IMPORTANT NOTICE – PLEASE READ AND AGREE BEFORE USING THE SOFTWARE
+
+This software evaluation license agreement (“Agreement”) is a legal agreement between you, whether an
+individual or entity, (“you”) and NVIDIA Corporation and its affiliates (“NVIDIA”) and governs the use of certain
+NVIDIA CloudXR software and documentation that NVIDIA delivers to you under this Agreement (“Software”).
+NVIDIA and you are each a “party” and collectively the “parties.”
+This Agreement can be accepted only by an adult of legal age of majority in the country in which the Software is
+used. If you don’t have the required age or authority to accept this Agreement, or if you don’t accept all the
+terms and conditions of this Agreement, do not use the Software.
+
+1. License Grants.
+
+1.1 License Grant to You. The Software is licensed, not sold. Subject to the terms of this Agreement,
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+(c) modify and create derivative works of any source code NVIDIA delivers to you as part of the
+Software (“Derivatives”) (if applicable).
+
+All the foregoing grants are only for internal test and evaluation purposes and, as applicable, for use (a) in
+client systems, or (b) in server systems with NVIDIA GPUs (“Purpose”).
+
+1.2 License Grant to NVIDIA. Subject to the terms of this Agreement, you grant NVIDIA a non-exclusive,
+perpetual, irrevocable, sublicensable, worldwide, royalty-free, fully paid-up and transferable license,
+under your intellectual property rights, to publicly perform, publicly display, reproduce, use, make,
+have made, sell, offer for sale, distribute (through multiple tiers of distribution), import, create
+derivative works of and otherwise commercialize and exploit at NVIDIA’s discretion any Derivatives
+created by or for you. You may, but are not required to, deliver any Derivatives to NVIDIA.
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+2. License Restrictions. Your license to use the Software and Derivatives is restricted as stated in this “License
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+
+2.1 Use the Software or Derivatives for any purpose other than the Purpose, including but not limited to
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+
+2.2 Sell, rent, sublicense, transfer, distribute or otherwise make available to others (except Authorized
+Users as stated in the “Authorized Users” Section) any portion of the Software or Derivatives, except
+as expressly granted in Section 1.1 (“License Grant to You”);
+
+2.3 Reverse engineer, decompile, or disassemble the Software components provided in binary form, nor
+attempt in any other manner to obtain source code of such Software;
+
+2.4 Modify or create derivative works of the Software, except as expressly granted in Section 1.1
+(“License Grant to You”);
+
+2.5 Change or remove copyright or other proprietary notices in the Software;
+
+2.6 Bypass, disable, or circumvent any technical limitation, encryption, security, digital rights
+management or authentication mechanism in the Software;
+
+2.7 Use the Software or Derivatives in any manner that would cause them to become subject to an open
+source software license; subject to the terms in Section 7 (“Components Under Other Licenses”);
+
+2.8 Use the Software or Derivatives for the purpose of developing competing products or technologies
+or assist a third party in such activities;
+
+2.9 Replace any Software components governed by this Agreement with other software that
+implements NVIDIA APIs;
+
+2.10 Use the Software or Derivatives in violation of any applicable law or regulation in the relevant
+jurisdictions; or
+
+2.11 Use the Software in or with any system or application where the use or failure of such system or
+application developed or deployed with Software could result in injury, death or catastrophic
+damage (“Mission Critical Applications”). NVIDIA will not be liable to you or any third party, in whole
+or in part, for any claims or damages arising from uses in Mission Critical Applications.
+
+2.12 Disclose any evaluation or test results regarding the Software or Derivatives without NVIDIA’s prior
+written consent.
+
+3. Authorized Users. You may allow employees and contractors of your entity or of your subsidiary(ies), and
+for educational institutions also enrolled students, to internally access and use the Software as authorized
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+
+4. Pre-Release. Software versions identified as alpha, beta, preview, early access or otherwise as pre-release
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+NVIDIA may also choose to abandon development and terminate the availability of pre-release Software at
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+
+5. Your Privacy: Collection and Use of Information.
+
+5.1 Privacy Policy. Please review the NVIDIA Privacy Policy, located at https://www.nvidia.com/enus/about-nvidia/privacy-policy, which explains NVIDIA’s policy for collecting and using data, as well
+as visit the NVIDIA Privacy Center, located at https://www.nvidia.com/en-us/privacy-center, to
+manage your consent and privacy preferences.
+
+5.2 Collection Purposes. You also acknowledge that the Software collects data for the following
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+configuration; (ii) browser version; (iii) and session metadata (i.e. performance and usage
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+
+5.3 Third Party Privacy Practices. The Software may contain links to third party websites and services.
+NVIDIA encourages you to review the privacy statements on those sites and services that you choose
+to visit to understand how they may collect, use and share your data. NVIDIA is not responsible for
+the privacy statements or practices of third-party sites or services.
+
+6. Updates. NVIDIA may at any time and at its option, change, discontinue, or deprecate any part, or all, of the
+Software, or change or remove features or functionality, or make available patches, workarounds or other
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+
+7. Components Under Other Licenses. The Software may include or be distributed with components provided
+with separate legal notices or terms that accompany the components, such as open source software licenses
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+Agreement will prevail regarding the use of third-party open source software, unless a third-party open
+source software license requires its license terms to prevail. Open source software license means any
+software, data or documentation subject to any license identified as an open source license by the Open
+Source Initiative (http://opensource.org), Free Software Foundation (http://www.fsf.org) or other similar
+open source organization or listed by the Software Package Data Exchange (SPDX) Workgroup under the
+Linux Foundation (http://www.spdx.org).
+
+8. Ownership.
+
+8.1 NVIDIA Ownership. The Software, including all intellectual property rights, is and will remain the sole
+and exclusive property of NVIDIA or its licensors. Except as expressly granted in this Agreement,
+(a) NVIDIA reserves all rights, interests and remedies in connection with the Software, and (b) no
+other license or right is granted to you by implication, estoppel or otherwise.
+
+8.2 Your Ownership. Subject to the rights of NVIDIA and its suppliers in the Software, which continue to
+be licensed as stated in this Agreement, even when incorporated in your products, and the extent
+permitted by applicable law, as between you and NVIDIA, you hold all rights, title and interest in and
+to your services, applications and Derivatives you develop as permitted in this Agreement including
+their respective intellectual property rights.
+
+9. Feedback. You may, but are not obligated to, provide suggestions, requests, fixes, modifications,
+enhancements or other feedback regarding your use of the Software (“Feedback”). Feedback, even if
+designated as confidential by you, will not create any confidentiality obligation for NVIDIA or its affiliates. If
+you provide Feedback, you hereby grant NVIDIA, its affiliates and its designees a nonexclusive, perpetual,
+irrevocable, sublicensable, worldwide, royalty-free, fully paid-up and transferable license, under your
+intellectual property rights, to publicly perform, publicly display, reproduce, use, make, have made, sell,
+offer for sale, distribute (through multiple tiers of distribution), import, create derivative works of and
+otherwise commercialize and exploit the Feedback at NVIDIA’s discretion.
+
+10. Confidentiality. You may use confidential information only to exercise your rights and perform your
+obligations under this Agreement. You will not disclose, nor authorize others to disclose NVIDIA Confidential
+Information to any third party, except as expressly authorized in this Agreement and as necessary for the
+Purpose, without obtaining NVIDIA’s prior written approval. Each recipient of confidential information must
+be subject to a written agreement that includes confidentiality obligations consistent with these terms and
+must have a need to know for the Purpose. You will protect the NVIDIA Confidential Information with at
+least the same degree of care that you use to protect your own similar confidential and proprietary
+information, but no less than a reasonable degree of care. Confidential information includes, but is not
+limited to, the Software, including its features and functionality, Derivatives, and any results of
+benchmarking or other competitive analysis or regression or performance data relating to the Software.
+No Publicity. You may not issue any public statements about this Agreement, disclose the Software or
+Derivatives, or any information or results related to your use of the Software, without prior written approval
+of NVIDIA.
+
+11. Term and Termination.
+
+11.1 Term. This Agreement has a duration of twelve (12) months starting from the date of initial
+download (even if you download the same version or updates of the Software later and it is
+accompanied by this Agreement or another Agreement), unless terminated earlier in accordance
+with this Agreement.
+
+11.2 Termination for Convenience. Either party may terminate this Agreement at any time with thirty (30)
+days’ advance written notice to the other party.
+
+11.3 Termination for Cause. If you commence or participate in any legal proceeding against NVIDIA with
+respect to the Software, this Agreement will terminate immediately without notice. Either party may
+terminate this Agreement upon notice for cause if:
+(a) the other party fails to cure a material breach of this Agreement within ten (10) days of the
+non-breaching party’s notice of the breach; or
+(b) the other party breaches its confidentiality obligations or license rights under this
+Agreement, which termination will be effective immediately upon written notice.
+
+11.4 Effect of Termination. Upon any expiration or termination of this Agreement, you will promptly
+(a) stop using and return, delete or destroy NVIDIA confidential information and all Software
+received under this Agreement, and (b) delete or destroy Derivatives created under this Agreement,
+unless an authorized NVIDIA representative provides prior written approval that you may keep a
+copy of the Derivatives solely for archival purposes. Upon written request, you will certify in writing
+that you have complied with your obligations under this “Effect of Termination” Section.
+
+11.5 Survival. The “License Grant to NVIDIA”, “Updates”, “Components Under Other Licenses”,
+“Ownership”, “Feedback”, “Confidentiality”, “No Publicity”, “Effect of Termination”, “Survival”,
+“Disclaimer of Warranties”, “Limitation of Liability”, “Indemnity” and all “General” Sections of this
+Agreement will survive any expiration or termination of this Agreement.
+
+12. Disclaimer of Warranties. THE SOFTWARE IS PROVIDED BY NVIDIA AS-IS AND WITH ALL FAULTS. TO THE
+MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW, NVIDIA DISCLAIMS ALL WARRANTIES AND
+REPRESENTATIONS OF ANY KIND, WHETHER EXPRESS, IMPLIED OR STATUTORY, RELATING TO OR ARISING
+UNDER THIS AGREEMENT, INCLUDING, WITHOUT LIMITATION, THE WARRANTIES OF TITLE,
+NONINFRINGEMENT, MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, USAGE OF TRADE AND
+COURSE OF DEALING. NVIDIA DOES NOT WARRANT OR ASSUME RESPONSIBILITY FOR THE ACCURACY OR
+COMPLETENESS OF ANY THIRD-PARTY INFORMATION, TEXT, GRAPHICS, LINKS CONTAINED IN THE
+SOFTWARE. WITHOUT LIMITING THE FOREGOING, NVIDIA DOES NOT WARRANT THAT THE SOFTWARE WILL
+MEET YOUR REQUIREMENTS, ANY DEFECTS OR ERRORS WILL BE CORRECTED, ANY CERTAIN CONTENT WILL
+BE AVAILABLE; OR THAT THE SOFTWARE IS FREE OF VIRUSES OR OTHER HARMFUL COMPONENTS. NO
+INFORMATION OR ADVICE GIVEN BY NVIDIA WILL IN ANY WAY INCREASE THE SCOPE OF ANY WARRANTY
+EXPRESSLY PROVIDED IN THIS AGREEMENT. YOU ARE SOLELY RESPONSIBLE FOR DETERMINING THE
+APPROPRIATENESS OF USING THE SOFTWARE OR DERIVATIVES AND ASSUME ANY RISKS ASSOCIATED WITH
+YOUR USE OF THE SOFTWARE OR DERIVATIVES.
+
+13. Limitations of Liability.
+
+13.1 EXCLUSIONS. TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW, IN NO EVENT WILL
+NVIDIA BE LIABLE FOR ANY (A) INDIRECT, PUNITIVE, SPECIAL, INCIDENTAL OR CONSEQUENTIAL
+DAMAGES, OR (B) DAMAGES FOR THE (I) COST OF PROCURING SUBSTITUTE GOODS OR (II) LOSS OF
+PROFITS, REVENUES, USE, DATA OR GOODWILL ARISING OUT OF OR RELATED TO THIS AGREEMENT,
+WHETHER BASED ON BREACH OF CONTRACT, TORT (INCLUDING NEGLIGENCE), STRICT LIABILITY, OR
+OTHERWISE, AND EVEN IF NVIDIA HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES AND
+EVEN IF A PARTY’S REMEDIES FAIL THEIR ESSENTIAL PURPOSE.
+
+13.2 DAMAGES CAP. ADDITIONALLY, TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW,
+NVIDIA’S TOTAL CUMULATIVE AGGREGATE LIABILITY FOR ANY AND ALL LIABILITIES, OBLIGATIONS OR
+CLAIMS ARISING OUT OF OR RELATED TO THIS AGREEMENT WILL NOT EXCEED ONE HUNDRED U.S.
+DOLLARS (US$100).
+
+14. Indemnity. You will defend, indemnify and hold harmless NVIDIA and its affiliates, and their respective
+employees, contractors, agents, officers and directors, from and against any and all third party claims,
+damages, obligations, losses, liabilities, costs or debt, fines, restitutions and expenses (including but not
+limited to attorney’s fees and costs incident to establishing the right of indemnification) arising out of use of
+the Software and Derivatives outside of the scope of this Agreement or in breach of the terms of this
+Agreement.
+
+15. General.
+
+15.1 Governing Law and Jurisdiction. This Agreement will be governed in all respects by the laws of the
+United States and the laws of the State of Delaware, without regard to conflict of laws principles or
+the United Nations Convention on Contracts for the International Sale of Goods. The state and
+federal courts residing in Santa Clara County, California will have exclusive jurisdiction over any
+dispute or claim arising out of or related to this Agreement, and the parties irrevocably consent to
+personal jurisdiction and venue in those courts; except that either party may apply for injunctive
+remedies or an equivalent type of urgent legal relief in any jurisdiction.
+
+15.2 Independent Contractors. The parties are independent contractors, and this Agreement does not
+create a joint venture, partnership, agency or other form of business association between the
+parties. Neither party will have the power to bind the other party or incur any obligation on its
+behalf without the other party’s prior written consent. Nothing in this Agreement prevents either
+party from participating in similar arrangements with third parties.
+
+15.3 No Assignment. NVIDIA may assign, delegate or transfer its rights or obligations under this
+Agreement by any means or operation of law. You may not, without NVIDIA’s prior written consent,
+assign, delegate or transfer any of your rights or obligations under this Agreement by any means or
+operation of law, and any attempt to do so is null and void.
+
+15.4 No Waiver. No failure or delay by a party to enforce any term or obligation of this Agreement will
+operate as a waiver by that party, or prevent the enforcement of such term or obligation later.
+
+15.5 Trade Compliance. You agree to comply with all applicable export, import, trade and economic
+sanctions laws and regulations, as amended, including without limitation U.S. Export Administration
+Regulations and Office of Foreign Assets Control regulations. You confirm (a) your understanding
+that export or reexport of certain NVIDIA products or technologies may require a license or other
+approval from appropriate authorities and (b) that you will not export or reexport any products or
+technology, directly or indirectly, without first obtaining any required license or other approval from
+appropriate authorities, (i) to any countries that are subject to any U.S. or local export restrictions
+(currently including, but not necessarily limited to, Belarus, Cuba, Iran, North Korea, Russia, Syria,
+the Region of Crimea, Donetsk People’s Republic Region and Luhansk People’s Republic Region); (ii)
+to any end-user who you know or have reason to know will utilize them in the design, development
+or production of nuclear, chemical or biological weapons, missiles, rocket systems, unmanned air
+vehicles capable of a maximum range of at least 300 kilometers, regardless of payload, or intended
+for military end-use, or any weapons of mass destruction; (iii) to any end-user who has been
+prohibited from participating in the U.S. or local export transactions by any governing authority; or
+(iv) to any known military or military-intelligence end-user or for any known military or military-
+intelligence end-use in accordance with U.S. trade compliance laws and regulations.
+
+15.6 Government Rights. The Software, documentation and technology (“Protected Items”) are
+“Commercial products” as this term is defined at 48 C.F.R. 2.101, consisting of “commercial
+computer software” and “commercial computer software documentation” as such terms are used
+in, respectively, 48 C.F.R. 12.212 and 48 C.F.R. 227.7202 & 252.227-7014(a)(1). Before any Protected
+Items are supplied to the U.S. Government, you will (i) inform the U.S. Government in writing that
+the Protected Items are and must be treated as commercial computer software and commercial
+computer software documentation developed at private expense; (ii) inform the U.S. Government
+that the Protected Items are provided subject to the terms of the Agreement; and (iii) mark the
+Protected Items as commercial computer software and commercial computer software
+documentation developed at private expense. In no event will you permit the U.S. Government to
+acquire rights in Protected Items beyond those specified in 48 C.F.R. 52.227-19(b)(1)-(2) or 252.227-
+7013(c) except as expressly approved by NVIDIA in writing.
+
+15.7 Notices. Please direct your legal notices or other correspondence to legalnotices@nvidia.com with a
+copy mailed to NVIDIA Corporation, 2788 San Tomas Expressway, Santa Clara, California 95051,
+United States of America, Attention: Legal Department. If NVIDIA needs to contact you about the
+Software, you consent to receive the notices by email and agree that such notices will satisfy any
+legal communication requirements.
+
+15.8 Severability. If a court of competent jurisdiction rules that a provision of this Agreement is
+unenforceable, that provision will be deemed modified to the extent necessary to make it
+enforceable and the remainder of this Agreement will continue in full force and effect.
+
+15.9 Amendment. Any amendment to this Agreement must be in writing and signed by authorized
+representatives of both parties.
+
+15.10 Entire Agreement. Regarding the subject matter of this Agreement, the parties agree that (a) this
+Agreement constitutes the entire and exclusive agreement between the parties and supersedes all
+prior and contemporaneous communications and (b) any additional or different terms or conditions,
+whether contained in purchase orders, order acknowledgments, invoices or otherwise, will not be
+binding and are null and void.
+
+(v. February 25, 2025)
+
+NVIDIA Confidential
--- a/deps/cloudxr/docs/media/accept-cert.png
+++ b/deps/cloudxr/docs/media/accept-cert.png
--- a/deps/cloudxr/docs/media/accept-proxy-cert.png
+++ b/deps/cloudxr/docs/media/accept-proxy-cert.png
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+++ b/deps/cloudxr/docs/media/cloudxr_viewport.jpg
--- a/deps/cloudxr/docs/media/iwer-buttons.png
+++ b/deps/cloudxr/docs/media/iwer-buttons.png
--- a/deps/cloudxr/docs/media/iwer-message.png
+++ b/deps/cloudxr/docs/media/iwer-message.png
--- a/deps/cloudxr/docs/media/ov-ar-panel.png
+++ b/deps/cloudxr/docs/media/ov-ar-panel.png
--- a/deps/cloudxr/docs/media/react-isaac-sample-controls-countdown.jpg
+++ b/deps/cloudxr/docs/media/react-isaac-sample-controls-countdown.jpg
--- a/deps/cloudxr/docs/media/react-isaac-sample-controls-running.jpg
+++ b/deps/cloudxr/docs/media/react-isaac-sample-controls-running.jpg
--- a/deps/cloudxr/docs/media/react-isaac-sample-controls-start.jpg
+++ b/deps/cloudxr/docs/media/react-isaac-sample-controls-start.jpg
--- a/deps/cloudxr/docs/media/startar.png
+++ b/deps/cloudxr/docs/media/startar.png
--- a/deps/cloudxr/docs/modules.html
+++ b/deps/cloudxr/docs/modules.html
--- a/deps/cloudxr/docs/modules/CloudXR.html
+++ b/deps/cloudxr/docs/modules/CloudXR.html
--- a/deps/cloudxr/helpers/BrowserCapabilities.ts
+++ b/deps/cloudxr/helpers/BrowserCapabilities.ts
@@ -0,0 +1,125 @@
+interface CapabilityCheck {
+  name: string;
+  required: boolean;
+  check: () => boolean | Promise<boolean>;
+  message: string;
+}
+
+const capabilities: CapabilityCheck[] = [
+  {
+    name: 'WebGL2',
+    required: true,
+    check: () => {
+      const canvas = document.createElement('canvas');
+      const gl = canvas.getContext('webgl2');
+      return gl !== null;
+    },
+    message: 'WebGL2 is required for rendering',
+  },
+  {
+    name: 'WebXR',
+    required: true,
+    check: () => {
+      return 'xr' in navigator;
+    },
+    message: 'WebXR is required for VR/AR functionality',
+  },
+  {
+    name: 'RTCPeerConnection',
+    required: true,
+    check: () => {
+      return 'RTCPeerConnection' in window;
+    },
+    message: 'RTCPeerConnection is required for WebRTC streaming',
+  },
+  {
+    name: 'requestVideoFrameCallback',
+    required: true,
+    check: () => {
+      const video = document.createElement('video');
+      return typeof video.requestVideoFrameCallback === 'function';
+    },
+    message: 'HTMLVideoElement.requestVideoFrameCallback is required for video frame processing',
+  },
+  {
+    name: 'Canvas.captureStream',
+    required: true,
+    check: () => {
+      const canvas = document.createElement('canvas');
+      return typeof canvas.captureStream === 'function';
+    },
+    message: 'Canvas.captureStream is required for video streaming',
+  },
+  {
+    name: 'AV1 Codec Support',
+    required: false,
+    check: async () => {
+      try {
+        // Check if MediaCapabilities API is available
+        if (!navigator.mediaCapabilities) {
+          return false;
+        }
+
+        // Check MediaCapabilities for AV1 decoding support
+        const config = {
+          type: 'webrtc' as MediaDecodingType,
+          video: {
+            contentType: 'video/av1',
+            width: 1920,
+            height: 1080,
+            framerate: 60,
+            bitrate: 15000000, // 15 Mbps
+          },
+        };
+
+        const result = await navigator.mediaCapabilities.decodingInfo(config);
+        return result.supported;
+      } catch (error) {
+        console.warn('Error checking AV1 support:', error);
+        return false;
+      }
+    },
+    message: 'AV1 codec support is recommended for optimal streaming quality',
+  },
+];
+
+export async function checkCapabilities(): Promise<{
+  success: boolean;
+  failures: string[];
+  warnings: string[];
+}> {
+  const failures: string[] = [];
+  const warnings: string[] = [];
+  const requiredFailures: string[] = [];
+
+  for (const capability of capabilities) {
+    try {
+      const result = await Promise.resolve(capability.check());
+      if (!result) {
+        if (capability.required) {
+          requiredFailures.push(capability.message);
+          console.error(`Required capability missing: ${capability.message}`);
+        } else {
+          warnings.push(capability.message);
+          console.warn(`Optional capability missing: ${capability.message}`);
+        }
+        failures.push(capability.message);
+      }
+    } catch (error) {
+      if (capability.required) {
+        requiredFailures.push(capability.message);
+        console.error(`Error checking required capability ${capability.name}:`, error);
+      } else {
+        warnings.push(capability.message);
+        console.warn(`Error checking optional capability ${capability.name}:`, error);
+      }
+      failures.push(capability.message);
+    }
+  }
+
+  return {
+    success: requiredFailures.length === 0,
+    failures,
+    warnings,
+  };
+}
--- a/deps/cloudxr/helpers/LoadIWER.ts
+++ b/deps/cloudxr/helpers/LoadIWER.ts
@@ -0,0 +1,98 @@
+const IWER_version = '2.1.1';
+const IWER_DEVUI_version = '1.1.2';
+
+export interface IWERLoadResult {
+  supportsImmersive: boolean;
+  iwerLoaded: boolean;
+}
+
+export async function loadIWERIfNeeded(): Promise<IWERLoadResult> {
+  let supportsImmersive = false;
+  let iwerLoaded = false;
+
+  if ('xr' in navigator) {
+    try {
+      const vr = await (navigator.xr as XRSystem).isSessionSupported?.('immersive-vr');
+      const ar = await (navigator.xr as XRSystem).isSessionSupported?.('immersive-ar');
+      supportsImmersive = Boolean(vr || ar);
+    } catch (_) {}
+  }
+
+  if (!supportsImmersive) {
+    console.info('Immersive mode not supported, loading IWER as fallback.');
+
+    // Load IWER first
+    const script = document.createElement('script');
+    script.src = `https://unpkg.com/iwer@${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 };
+}
--- a/deps/cloudxr/helpers/WebGLState.ts
+++ b/deps/cloudxr/helpers/WebGLState.ts
--- a/deps/cloudxr/helpers/WebGLStateApply.ts
+++ b/deps/cloudxr/helpers/WebGLStateApply.ts
--- a/deps/cloudxr/helpers/WebGLStateBinding.ts
+++ b/deps/cloudxr/helpers/WebGLStateBinding.ts
@@ -0,0 +1,286 @@
+import { WebGLStateTracker, WebGLState } from './WebGLState';
+import { apply } from './WebGLStateApply';
+
+/**
+ * BoundWebGLState - A WebGL2 context with automatic state tracking
+ *
+ * This is the original WebGL2 context with state-changing functions rebound
+ * to call the tracker before forwarding to the original implementation.
+ */
+export class BoundWebGLState {
+  private gl: WebGL2RenderingContext;
+  private tracker: WebGLStateTracker;
+  private originalFunctions: Map<string, Function>;
+  private savedState?: WebGLState;
+  private trackingEnabled = true;
+
+  constructor(
+    gl: WebGL2RenderingContext,
+    tracker: WebGLStateTracker,
+    originalFunctions: Map<string, Function>
+  ) {
+    this.gl = gl;
+    this.tracker = tracker;
+    this.originalFunctions = originalFunctions;
+  }
+
+  /**
+   * Get the internal state tracker
+   */
+  private getTracker(): WebGLStateTracker {
+    return this.tracker;
+  }
+
+  /**
+   * Save the current tracked WebGL state
+   * This clones the state so it can be restored later
+   */
+  save(): void {
+    this.savedState = this.tracker.getState();
+  }
+
+  /**
+   * Restore the previously saved WebGL state
+   * This applies the saved state back to the WebGL context
+   * @throws {Error} If no state has been saved
+   */
+  restore(): void {
+    if (!this.savedState) {
+      throw new Error('No state has been saved. Call save() before restore().');
+    }
+
+    // Save the current tracking state and enable tracking during restore
+    // This ensures the tracker stays synchronized with actual GL state
+    const wasTrackingEnabled = this.trackingEnabled;
+    this.trackingEnabled = true;
+
+    const currentState = this.tracker.getState();
+    apply(this.gl, this.savedState, currentState);
+
+    // Restore the original tracking state
+    this.trackingEnabled = wasTrackingEnabled;
+  }
+
+  enableTracking(enable: boolean): void {
+    this.trackingEnabled = enable;
+  }
+
+  _enabled(): boolean {
+    return this.trackingEnabled;
+  }
+
+  /**
+   * Revert all tracked functions back to their original implementations
+   * This removes state tracking from the WebGL context
+   */
+  revert(): void {
+    const glAny = this.gl as any;
+
+    for (const [name, originalFunction] of this.originalFunctions.entries()) {
+      glAny[name] = originalFunction;
+    }
+
+    // Clear the map
+    this.originalFunctions.clear();
+
+    // Remove the stored BoundWebGLState from the GL context
+    delete glAny.__cloudxrBoundState;
+  }
+}
+
+/**
+ * Bind a WebGL2 context with automatic state tracking
+ *
+ * Rebinds state-changing methods on the WebGL context to automatically track
+ * state changes before forwarding to the original implementation.
+ *
+ * @param gl - The WebGL2RenderingContext to wrap
+ * @returns A BoundWebGLState instance that provides access to the tracker and revert functionality
+ *
+ * @example
+ * ```typescript
+ * const canvas = document.getElementById('canvas') as HTMLCanvasElement;
+ * const gl = canvas.getContext('webgl2')!;
+ * const binding = bindGL(gl);
+ *
+ * // Use gl like a normal WebGL context - it's now tracked
+ * gl.bindBuffer(gl.ARRAY_BUFFER, buffer);
+ * gl.bindVertexArray(vao);
+ *
+ * // Save the current state
+ * binding.save();
+ *
+ * // Make some temporary changes
+ * gl.bindBuffer(gl.ARRAY_BUFFER, tempBuffer);
+ * gl.enable(gl.BLEND);
+ *
+ * // Restore the saved state
+ * binding.restore();
+ *
+ * // Access tracked state
+ * const state = binding.getTracker().getState();
+ * console.log(state.buffers?.arrayBuffer); // The bound buffer
+ *
+ * // When done, revert to stop tracking
+ * binding.revert();
+ * ```
+ */
+export function bindGL(gl: WebGL2RenderingContext): BoundWebGLState {
+  const glAny = gl as any;
+
+  // Check if this GL context is already wrapped - prevent double-wrapping
+  if (glAny.__cloudxrBoundState) {
+    console.warn(
+      'WebGL context is already wrapped with state tracking. Returning existing BoundWebGLState.'
+    );
+    return glAny.__cloudxrBoundState;
+  }
+
+  // Create the tracker
+  const tracker = new WebGLStateTracker();
+
+  // Store original functions for later reversion
+  const originalFunctions = new Map<string, Function>();
+  const wrappedFunctions = new Map<string, Function>();
+
+  const state = new BoundWebGLState(gl, tracker, originalFunctions);
+
+  // Store the BoundWebGLState on the GL context to prevent double-wrapping
+  glAny.__cloudxrBoundState = state;
+
+  // Helper function to bind a method
+  const bind = (name: string, trackerMethod: Function) => {
+    // CRITICAL: Store the original BEFORE we replace it, otherwise we'll store the wrapper
+    const originalMethod = glAny[name];
+    if (!originalMethod) {
+      throw new Error('Original method not found for ' + name);
+    }
+    if (originalMethod === wrappedFunctions.get(name)) {
+      throw new Error('Wrapped function already bound for ' + name);
+    }
+
+    const original = originalMethod.bind(gl);
+    originalFunctions.set(name, original);
+    const wrappedFunction = (...args: any[]) => {
+      if (state._enabled()) {
+        trackerMethod.apply(tracker, args);
+      }
+      return original(...args);
+    };
+    wrappedFunctions.set(name, wrappedFunction);
+
+    glAny[name] = wrappedFunction;
+  };
+
+  // Buffer bindings
+  bind('bindBuffer', tracker.bindBuffer);
+  bind('bindBufferBase', tracker.bindBufferBase);
+  bind('bindBufferRange', tracker.bindBufferRange);
+
+  // Buffer lifecycle tracking (for validation without GPU calls)
+  const originalCreateBuffer = glAny.createBuffer.bind(gl);
+  originalFunctions.set('createBuffer', originalCreateBuffer);
+  glAny.createBuffer = (): WebGLBuffer | null => {
+    const buffer = originalCreateBuffer();
+    if (buffer) {
+      tracker.createBuffer(buffer);
+    }
+    return buffer;
+  };
+  bind('deleteBuffer', tracker.deleteBuffer);
+
+  // VAO and vertex attributes
+  bind('bindVertexArray', tracker.bindVertexArray);
+  bind('deleteVertexArray', tracker.deleteVertexArray);
+  bind('enableVertexAttribArray', tracker.enableVertexAttribArray);
+  bind('disableVertexAttribArray', tracker.disableVertexAttribArray);
+  bind('vertexAttribPointer', tracker.vertexAttribPointer);
+  bind('vertexAttribIPointer', tracker.vertexAttribIPointer);
+  bind('vertexAttribDivisor', tracker.vertexAttribDivisor);
+
+  // Texture bindings
+  bind('activeTexture', tracker.activeTexture);
+  bind('bindTexture', tracker.bindTexture);
+
+  // Program binding
+  bind('useProgram', tracker.useProgram);
+
+  // Framebuffer bindings
+  bind('bindFramebuffer', tracker.bindFramebuffer);
+  bind('framebufferTexture2D', tracker.framebufferTexture2D);
+  bind('framebufferRenderbuffer', tracker.framebufferRenderbuffer);
+  bind('framebufferTextureLayer', tracker.framebufferTextureLayer);
+  bind('drawBuffers', tracker.drawBuffers);
+  bind('readBuffer', tracker.readBuffer);
+
+  // Renderbuffer binding
+  bind('bindRenderbuffer', tracker.bindRenderbuffer);
+
+  // Transform feedback
+  bind('bindTransformFeedback', tracker.bindTransformFeedback);
+  bind('beginTransformFeedback', tracker.beginTransformFeedback);
+  bind('endTransformFeedback', tracker.endTransformFeedback);
+  bind('pauseTransformFeedback', tracker.pauseTransformFeedback);
+  bind('resumeTransformFeedback', tracker.resumeTransformFeedback);
+
+  // Capabilities (enable/disable)
+  bind('enable', tracker.enable);
+  bind('disable', tracker.disable);
+
+  // Viewport and scissor
+  bind('viewport', tracker.viewport);
+  bind('scissor', tracker.scissor);
+
+  // Clear values
+  bind('clearColor', tracker.clearColor);
+  bind('clearDepth', tracker.clearDepth);
+  bind('clearStencil', tracker.clearStencil);
+
+  // Blend state
+  bind('blendColor', tracker.blendColor);
+  bind('blendEquation', tracker.blendEquation);
+  bind('blendEquationSeparate', tracker.blendEquationSeparate);
+  bind('blendFunc', tracker.blendFunc);
+  bind('blendFuncSeparate', tracker.blendFuncSeparate);
+
+  // Depth state
+  bind('depthFunc', tracker.depthFunc);
+  bind('depthMask', tracker.depthMask);
+  bind('depthRange', tracker.depthRange);
+
+  // Stencil state
+  bind('stencilFunc', tracker.stencilFunc);
+  bind('stencilFuncSeparate', tracker.stencilFuncSeparate);
+  bind('stencilMask', tracker.stencilMask);
+  bind('stencilMaskSeparate', tracker.stencilMaskSeparate);
+  bind('stencilOp', tracker.stencilOp);
+  bind('stencilOpSeparate', tracker.stencilOpSeparate);
+
+  // Color mask
+  bind('colorMask', tracker.colorMask);
+
+  // Culling and face orientation
+  bind('cullFace', tracker.cullFace);
+  bind('frontFace', tracker.frontFace);
+
+  // Line width
+  bind('lineWidth', tracker.lineWidth);
+
+  // Polygon offset
+  bind('polygonOffset', tracker.polygonOffset);
+
+  // Sample coverage
+  bind('sampleCoverage', tracker.sampleCoverage);
+
+  // Pixel store parameters
+  bind('pixelStorei', tracker.pixelStorei);
+
+  // Sampler binding
+  bind('bindSampler', tracker.bindSampler);
+
+  // Query operations
+  bind('beginQuery', tracker.beginQuery);
+  bind('endQuery', tracker.endQuery);
+
+  return state;
+}
--- a/deps/cloudxr/helpers/WebGlUtils.ts
+++ b/deps/cloudxr/helpers/WebGlUtils.ts
@@ -0,0 +1,54 @@
+export function getOrCreateCanvas(
+  id: string,
+  resolution?: { width: number; height: number }
+): HTMLCanvasElement {
+  let canvas = document.getElementById(id) as HTMLCanvasElement | null;
+  if (!canvas) {
+    canvas = document.createElement('canvas') as HTMLCanvasElement;
+    canvas.id = id;
+    // canvas.style.display = "none";
+    document.body.appendChild(canvas);
+  }
+  if (!canvas) {
+    throw new Error('Failed to create canvas');
+  }
+  if (resolution) {
+    canvas.width = resolution.width;
+    canvas.height = resolution.height;
+  }
+  return canvas;
+}
+
+export function logOrThrow(tagString: string, gl: WebGL2RenderingContext) {
+  const err = gl.getError();
+  if (err !== gl.NO_ERROR) {
+    let errorString;
+    switch (err) {
+      case gl.INVALID_ENUM:
+        errorString = 'INVALID_ENUM';
+        break;
+      case gl.INVALID_VALUE:
+        errorString = 'INVALID_VALUE';
+        break;
+      case gl.INVALID_OPERATION:
+        errorString = 'INVALID_OPERATION';
+        break;
+      case gl.INVALID_FRAMEBUFFER_OPERATION:
+        errorString = 'INVALID_FRAMEBUFFER_OPERATION';
+        break;
+      case gl.OUT_OF_MEMORY:
+        errorString = 'OUT_OF_MEMORY';
+        break;
+      case gl.CONTEXT_LOST_WEBGL:
+        errorString = 'CONTEXT_LOST_WEBGL';
+        break;
+      default:
+        errorString = 'UNKNOWN_ERROR';
+        break;
+    }
+
+    throw new Error('WebGL error: ' + tagString + ': ' + errorString + ' (' + err + ')');
+  } else {
+    console.debug('WebGL no-error: ' + tagString);
+  }
+}
--- a/deps/cloudxr/helpers/overridePressureObserver.ts
+++ b/deps/cloudxr/helpers/overridePressureObserver.ts
@@ -0,0 +1,35 @@
+/**
+ * Override PressureObserver to catch errors from unexpected browser implementations.
+ *
+ * Some browsers have buggy PressureObserver implementations that throw errors
+ * when observe() is called. This wrapper catches and logs those errors instead
+ * of letting them propagate.
+ *
+ * This should be called early in your application, before any code attempts
+ * to use PressureObserver.
+ */
+export function overridePressureObserver(): void {
+  if (typeof window === 'undefined' || !(window as any).PressureObserver) {
+    return;
+  }
+
+  const OriginalPressureObserver = (window as any).PressureObserver;
+
+  (window as any).PressureObserver = class PressureObserver extends OriginalPressureObserver {
+    observe(source: any) {
+      try {
+        const result = super.observe(source);
+        if (result && typeof result.catch === 'function') {
+          return result.catch((e: Error) => {
+            console.warn('PressureObserver.observe() failed:', e.message);
+            return undefined;
+          });
+        }
+        return result;
+      } catch (e: any) {
+        console.warn('PressureObserver.observe() failed:', e.message);
+        return undefined;
+      }
+    }
+  };
+}
--- a/deps/cloudxr/helpers/utils.ts
+++ b/deps/cloudxr/helpers/utils.ts
@@ -0,0 +1,293 @@
+/**
+ * Parses URL parameters and returns them as an object
+ * @param location - Optional location object (defaults to window.location)
+ * @returns Object with URL parameters as key-value pairs
+ */
+export function getUrlParams(location: Location = window.location): Record<string, string> {
+  const params: Record<string, string> = {};
+  const queryString = location.search.substring(1);
+
+  if (queryString) {
+    const pairs = queryString.split('&');
+    for (const pair of pairs) {
+      const [key, value = ''] = pair.split('=');
+      params[decodeURIComponent(key)] = decodeURIComponent(value);
+    }
+  }
+
+  return params;
+}
+
+/**
+ * Enables localStorage functionality for form elements
+ * @param element - The HTML input or select element to enable localStorage for
+ * @param key - The localStorage key to use for saving/loading the value
+ */
+export function enableLocalStorage(element: HTMLInputElement | HTMLSelectElement, key: string) {
+  // Check if localStorage is already enabled for this element and key
+  const localStorageKey = `__localStorageEnabled_${key}`;
+  if ((element as any)[localStorageKey]) {
+    console.warn(`localStorage already enabled for ${key}, skipping`);
+    return;
+  }
+
+  // Load saved value from localStorage
+  try {
+    // Check if the key exists in localStorage, not just if it has values
+    if (localStorage.hasOwnProperty(key)) {
+      const savedValue = localStorage.getItem(key);
+      element.value = savedValue || '';
+      console.info(`Loaded saved ${key} from localStorage:`, savedValue);
+    }
+  } catch (error) {
+    console.warn(`${key}: Failed to load saved value from localStorage:`, error);
+  }
+
+  // Set up event listener to save value when changed
+  const changeHandler = () => {
+    try {
+      // Always save the value, even if it's empty
+      localStorage.setItem(key, element.value);
+      console.info(`Saved ${key} to localStorage:`, JSON.stringify(element.value));
+    } catch (error) {
+      console.warn(`${key}: Failed to save to localStorage:`, error);
+    }
+  };
+
+  element.addEventListener('change', changeHandler);
+
+  // Mark this element as having localStorage enabled for this key
+  (element as any)[localStorageKey] = true;
+}
+
+/**
+ * Strips protocol prefixes (http:// or https://) from a URL string
+ * @param url - The URL string to clean
+ * @returns The URL without protocol prefix
+ */
+function stripProtocol(url: string): string {
+  return url.replace(/^https?:\/\//, '');
+}
+
+/**
+ * Connection configuration object containing server connection details
+ */
+export interface ConnectionConfiguration {
+  /** Final server IP address (may be modified for HTTPS proxy routing) */
+  serverIP: string;
+
+  /** Final port number (fixed to 443 for HTTPS, user-provided for HTTP) */
+  port: number;
+
+  /** Whether the connection will use secure protocol (HTTPS/WSS) */
+  useSecureConnection: boolean;
+}
+
+/**
+ * CloudXR configuration interface containing all streaming settings
+ */
+export interface CloudXRConfig {
+  /** IP address of the CloudXR streaming server */
+  serverIP: string;
+
+  /** Port number for the CloudXR server connection */
+  port: number;
+
+  /** Whether to use secure connection (HTTPS/WSS) or insecure (HTTP/WS) */
+  useSecureConnection: boolean;
+
+  /** Width of each eye in pixels (must be multiple of 16) */
+  perEyeWidth: number;
+
+  /** Height of each eye in pixels (must be multiple of 16) */
+  perEyeHeight: number;
+
+  /** Target frame rate for the XR device in frames per second (FPS) */
+  deviceFrameRate: number;
+
+  /** Maximum streaming bitrate in Megabits per second (Mbps) */
+  maxStreamingBitrateMbps: number;
+
+  /** XR immersive mode: 'ar' for augmented reality, 'vr' for virtual reality */
+  immersiveMode: 'ar' | 'vr';
+
+  /** Application identifier string for the CloudXR session */
+  app: string;
+
+  /** Type of server being connected to */
+  serverType: string;
+
+  /** Optional proxy URL for HTTPS routing (e.g., 'https://proxy.example.com/'); if empty, uses direct WSS connection */
+  proxyUrl: string;
+
+  /** Preferred XR reference space for tracking and positioning */
+  referenceSpaceType: 'auto' | 'local-floor' | 'local' | 'viewer' | 'unbounded';
+
+  /** XR reference space offset along X axis in meters (positive is right) */
+  xrOffsetX?: number;
+  /** XR reference space offset along Y axis in meters (positive is up) */
+  xrOffsetY?: number;
+  /** XR reference space offset along Z axis in meters (positive is backward) */
+  xrOffsetZ?: number;
+}
+
+/**
+ * Determines connection configuration based on protocol and user inputs
+ * Supports both direct WSS connections and proxy routing for HTTPS
+ *
+ * @param serverIP - The user-provided server IP address
+ * @param port - The user-provided port number
+ * @param proxyUrl - Optional proxy URL for HTTPS routing (if provided, uses proxy routing; otherwise direct connection)
+ * @param location - Optional location object (defaults to window.location)
+ * @returns Object containing server IP, port, and security settings
+ * @throws {Error} When proxy URL format is invalid (must start with https://)
+ */
+export function getConnectionConfig(
+  serverIP: string,
+  port: number,
+  proxyUrl: string,
+  location: Location = window.location
+): ConnectionConfiguration {
+  let finalServerIP = '';
+  let finalPort = port;
+  let finalUseSecureConnection = false;
+
+  // Determine if we should use secure connection based on page protocol
+  if (location.protocol === 'https:') {
+    console.info('Running on HTTPS protocol - using secure WebSocket (WSS)');
+    finalUseSecureConnection = true;
+
+    // Check if proxy URL is provided for routing
+    const trimmedProxyUrl = proxyUrl?.trim();
+    if (trimmedProxyUrl) {
+      // Proxy routing mode
+      console.info('Proxy URL provided - using proxy routing mode');
+
+      if (!trimmedProxyUrl.startsWith('https://')) {
+        throw new Error('Proxy URL must start with https://. Received: ' + trimmedProxyUrl);
+      }
+
+      // Use port 443 for proxy routing (standard HTTPS port)
+      finalPort = 443;
+
+      // Route through proxy: if specific server IP provided, append it to proxy URL
+      if (serverIP && serverIP !== 'localhost' && serverIP !== '127.0.0.1') {
+        // Route to proxy with IP
+        const cleanServerIP = stripProtocol(serverIP);
+        // Clean proxy URL - strip protocol and trailing slash
+        const cleanProxyUrl = stripProtocol(trimmedProxyUrl).replace(/\/$/, '');
+        finalServerIP = `${cleanProxyUrl}/${cleanServerIP}`;
+        console.info(`Using HTTPS proxy with IP: ${finalServerIP}`);
+      } else {
+        // Route to proxy without IP
+        finalServerIP = stripProtocol(trimmedProxyUrl).replace(/\/$/, '');
+        console.info(`Using HTTPS proxy without specific IP: ${finalServerIP}`);
+      }
+    } else {
+      // Direct WSS connection mode
+      console.info('No proxy URL - using direct WSS connection');
+
+      // Handle server IP input
+      if (serverIP && serverIP !== 'localhost' && serverIP !== '127.0.0.1') {
+        finalServerIP = stripProtocol(serverIP);
+        console.info('Using user-provided server IP:', finalServerIP);
+      } else {
+        finalServerIP = new URL(location.href).hostname;
+        console.info('Using default server IP from window location:', finalServerIP);
+      }
+
+      // Use user-provided port for direct WSS
+      if (port && !isNaN(port)) {
+        finalPort = port;
+        console.info('Using user-provided port:', finalPort);
+      }
+    }
+  } else {
+    // HTTP protocol - direct WS connection
+    console.info('Running on HTTP protocol - using insecure WebSocket (WS)');
+    finalUseSecureConnection = false;
+
+    // Handle server IP input
+    if (serverIP && serverIP !== 'localhost' && serverIP !== '127.0.0.1') {
+      finalServerIP = stripProtocol(serverIP);
+      console.info('Using user-provided server IP:', finalServerIP);
+    } else {
+      finalServerIP = new URL(location.href).hostname;
+      console.info('Using default server IP from window location:', finalServerIP);
+    }
+
+    // Handle port input
+    if (port && !isNaN(port)) {
+      finalPort = port;
+      console.info('Using user-provided port:', finalPort);
+    }
+  }
+
+  return {
+    serverIP: finalServerIP,
+    port: finalPort,
+    useSecureConnection: finalUseSecureConnection,
+  } as ConnectionConfiguration;
+}
+
+/**
+ * Sets up certificate acceptance link for self-signed certificates in HTTPS mode
+ * Shows a link to accept certificates when using direct WSS connection (no proxy)
+ *
+ * @param serverIpInput - Input element for server IP address
+ * @param portInput - Input element for port number
+ * @param proxyUrlInput - Input element for proxy URL
+ * @param certAcceptanceLink - Container element for the certificate link
+ * @param certLink - Anchor element for the certificate URL
+ * @param location - Optional location object (defaults to window.location)
+ * @returns Cleanup function to remove event listeners
+ */
+export function setupCertificateAcceptanceLink(
+  serverIpInput: HTMLInputElement,
+  portInput: HTMLInputElement,
+  proxyUrlInput: HTMLInputElement,
+  certAcceptanceLink: HTMLElement,
+  certLink: HTMLAnchorElement,
+  location: Location = window.location
+): () => void {
+  /**
+   * Updates the certificate acceptance link based on current configuration
+   * Shows link only when in HTTPS mode without proxy (direct WSS)
+   */
+  const updateCertLink = () => {
+    const isHttps = location.protocol === 'https:';
+    const hasProxy = proxyUrlInput.value.trim().length > 0;
+    const portValue = parseInt(portInput.value, 10);
+    const defaultPort = hasProxy ? 443 : 48322;
+    const port = portValue || defaultPort;
+
+    // Show link only in HTTPS mode without proxy
+    if (isHttps && !hasProxy) {
+      let serverIp = serverIpInput.value.trim();
+      if (!serverIp) {
+        serverIp = new URL(location.href).hostname;
+      }
+      const url = `https://${serverIp}:${port}/`;
+      certAcceptanceLink.style.display = 'block';
+      certLink.href = url;
+      certLink.textContent = `Click ${url} to accept cert`;
+    } else {
+      certAcceptanceLink.style.display = 'none';
+    }
+  };
+
+  // Add event listeners to update link when inputs change
+  serverIpInput.addEventListener('input', updateCertLink);
+  portInput.addEventListener('input', updateCertLink);
+  proxyUrlInput.addEventListener('input', updateCertLink);
+
+  // Initial update after localStorage values are restored
+  setTimeout(updateCertLink, 0);
+
+  // Return cleanup function to remove event listeners
+  return () => {
+    serverIpInput.removeEventListener('input', updateCertLink);
+    portInput.removeEventListener('input', updateCertLink);
+    proxyUrlInput.removeEventListener('input', updateCertLink);
+  };
+}
--- a/deps/cloudxr/isaac/.gitignore
+++ b/deps/cloudxr/isaac/.gitignore
@@ -0,0 +1,3 @@
+node_modules/
+build/
+*.pem
--- a/deps/cloudxr/isaac/LICENSE
+++ b/deps/cloudxr/isaac/LICENSE
@@ -0,0 +1,307 @@
+NVIDIA SOFTWARE EVALUATION LICENSE AGREEMENT
+
+IMPORTANT NOTICE – PLEASE READ AND AGREE BEFORE USING THE SOFTWARE
+
+This software evaluation license agreement (“Agreement”) is a legal agreement between you, whether an
+individual or entity, (“you”) and NVIDIA Corporation and its affiliates (“NVIDIA”) and governs the use of certain
+NVIDIA CloudXR software and documentation that NVIDIA delivers to you under this Agreement (“Software”).
+NVIDIA and you are each a “party” and collectively the “parties.”
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+
+(v. February 25, 2025)
+
+NVIDIA Confidential
--- a/deps/cloudxr/isaac/README.md
+++ b/deps/cloudxr/isaac/README.md
@@ -0,0 +1,5 @@
+# Run Isaac Lab Teleoperation
+
+This is the Isaac Lab Teleop client built on top of CloudXR.js. 
+
+See the CloudXR.js SDK documentation > Show Cases > Isaac Lab Teleop for detailed guide.
--- a/deps/cloudxr/isaac/favicon.ico
+++ b/deps/cloudxr/isaac/favicon.ico
--- a/deps/cloudxr/isaac/package-lock.json
+++ b/deps/cloudxr/isaac/package-lock.json
--- a/deps/cloudxr/isaac/package.json
+++ b/deps/cloudxr/isaac/package.json
@@ -0,0 +1,47 @@
+{
+  "name": "cloudxr-isaac-lab-teleop",
+  "version": "6.0.0-beta",
+  "private": true,
+  "description": "CloudXR.js Isaac Lab Teleop application",
+  "author": "NVIDIA Corporation",
+  "license": "SEE LICENSE IN LICENSE",
+  "keywords": [
+    "react",
+    "three.js",
+    "webxr",
+    "cloudxr",
+    "vr"
+  ],
+  "scripts": {
+    "build": "webpack --config ./webpack.prod.js",
+    "dev": "webpack --config ./webpack.dev.js",
+    "dev-server": "webpack serve --config ./webpack.dev.js --no-open",
+    "dev-server:https": "HTTPS=true webpack serve --config ./webpack.dev.js --no-open",
+    "clean": "rimraf dist"
+  },
+  "dependencies": {
+    "@nvidia/cloudxr": "file:../nvidia-cloudxr-6.0.0-beta.tgz",
+    "@react-three/drei": "^10.6.1",
+    "@react-three/fiber": "^9.3.0",
+    "@react-three/uikit": "^1.0.0",
+    "@react-three/uikit-default": "^1.0.0",
+    "@react-three/xr": "^6.6.22",
+    "react": "^19.2.0",
+    "react-dom": "^19.2.0",
+    "three": "^0.172.0"
+  },
+  "devDependencies": {
+    "@types/react": "^19.2.0",
+    "@types/react-dom": "^19.2.0",
+    "@types/three": "^0.172.0",
+    "copy-webpack-plugin": "^13.0.0",
+    "css-loader": "^6.8.1",
+    "html-webpack-plugin": "^5.6.3",
+    "rimraf": "^5.0.5",
+    "style-loader": "^3.3.3",
+    "ts-loader": "^9.5.1",
+    "typescript": "^5.8.2",
+    "webpack-cli": "^6.0.1",
+    "webpack-dev-server": "^5.2.1"
+  }
+}
--- a/deps/cloudxr/isaac/public/HEROICONS_LICENSE
+++ b/deps/cloudxr/isaac/public/HEROICONS_LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) Tailwind Labs, Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
--- a/deps/cloudxr/isaac/public/arrow-left-start-on-rectangle.svg
+++ b/deps/cloudxr/isaac/public/arrow-left-start-on-rectangle.svg
@@ -0,0 +1,4 @@
+<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24" fill="currentColor" aria-hidden="true" data-slot="icon">
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--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
yt lee	510e610a27	docs(cloudxr): update INSTALL.md - SDK already in deps/cloudxr Clarify that CloudXR.js SDK is already included in deps/cloudxr/, no separate download needed. Users only need NGC credentials to pull the cloudxr-runtime-early-access Docker image.	2026-03-27 11:29:06 +08:00
yt lee	623e05f250	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
yt lee	eef7ff838d	Fix PrismaticJoint (trunk) control: IdealPDActuator with high stiffness Replace ImplicitActuator (which doesn't work for prismatic joints) with IdealPDActuator. This bypasses PhysX drive and explicitly computes PD forces using set_dof_actuation_forces(). Changes: - stiffness=100k, damping=5k to resist arm reaction forces (~150N) with <2mm deflection - Read trunk_cmd from ArticulationCfg initial position (single source of truth) - Integrate trunk diagnostics into robot state output - Remove hardcoded trunk_target parameter	2026-03-25 16:32:52 +08:00
yt lee	bfe28b188a	Fix XR teleop: body-frame IK control for mobile chassis Switch arm IK from world-frame to body-frame control so that pushing the XR controller forward always moves the arm in the robot's forward direction, regardless of chassis rotation. Key changes: - dual_arm_agent: convert EEF observations to body frame before passing to XR controller; send body-frame IK targets directly (removed convert_action_world_to_root) - xr_controller: XR deltas treated as body-frame deltas (no yaw rotation needed — VR view tracks robot heading naturally) - streaming: add debug frame save for stereo alignment diagnostics - mindrobot_2i_cfg: IdealPDActuator for trunk, disabled gravity - Author headers updated to Yutang Li, SIAT Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>	2026-03-25 11:32:28 +08:00
yt lee	05a146bca6	重构xr teleop	2026-03-23 22:06:13 +08:00
hangX	d756e3ae0b	test_zed.py	2026-03-21 21:39:21 +08:00
hangX	a4898f7af6	add zed-isaac-sim as git submodule Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-21 15:17:40 +08:00
hangX	cb5bbac824	contact sensor temp	2026-03-21 15:13:10 +08:00
hangX	d23898c3cb	双臂头部遥操作控制	2026-03-19 21:33:39 +08:00
hangX	1105d505e6	ignore deps/XRoboToolkit-Teleop-Sample-Python	2026-03-18 20:46:29 +08:00
hangX	70cb2e1712	双臂遥操多view	2026-03-18 20:26:44 +08:00
yt lee	aea3b84894	删除venv 这不应该出现	2026-03-14 20:46:15 +08:00
yt lee	763e555862	双臂烘箱调整	2026-03-14 20:45:41 +08:00
yt lee	1afdf9c7f7	Merge origin/pro6000_xh: differential drive, record/replay tools, scene assets Conflicts resolved: - assets.py: keep /home/tangger/LYT path (ours) - mindrobot_cfg.py: keep our initial poses + fix path separator \\ → / - mindrobot_left_arm_ik_env_cfg.py: keep our wheel_action using MINDBOT_WHEEL_JOINTS constant (cleaner than remote's hardcoded list) From origin/pro6000_xh: - scripts/tools/: record_demos.py, replay_demos.py, hdf5 tools (Isaac Lab copy) - assets/: dryingbox.py, lab.py, table.py scene asset definitions - tele_se3_with_wheel_agent.py: WheelKeyboard inlined, differential drive keys Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-14 13:44:02 +08:00
yt lee	7be48b3964	dual arm XR teleoperation: env cfg, shared client, joint locking - Add MindRobotDualArmIKAbsEnvCfg: standalone dual-arm env inheriting ManagerBasedRLEnvCfg directly (no single-arm dependency), 20D action space (left_arm7 \| wheel4 \| left_gripper1 \| right_arm7 \| right_gripper1) - Add local mdp/ with parameterized gripper_pos(joint_names) to support independent left/right gripper observations without modifying IsaacLab - Update teleop_xr_agent.py for dual-arm mode: shared XrClient to avoid SDK double-init crash, root-frame IK command caching so arm joints are locked when grip not pressed (EEF world pos still tracks chassis) - Tune mindrobot_cfg.py initial poses with singularity-avoiding offsets - Add CLAUDE.md project instructions and debug_action_assembly.py Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-14 13:31:26 +08:00
hangX	1f36a59fe8	场景	2026-03-13 17:41:44 +08:00
hangX	08c4cdacb8	记录动作以及回放record_demo,replay_demo	2026-03-11 16:33:29 +08:00
hangX	0c557938a7	wheel contorl keyboard	2026-03-09 21:34:52 +08:00
yt lee	2b290d805a	轮子	2026-03-06 17:31:00 +08:00
yt lee	36b4273582	VR	2026-03-06 15:05:45 +08:00
yt lee	7e0f4a3e75	1	2026-03-06 11:11:06 +08:00
yt lee	cc64e654ff	spacemouse ok	2026-03-05 22:41:56 +08:00
yt lee	2c9db33517	添加全局变量路径；添加IL的demo	2026-03-04 18:39:56 +08:00
hangX	9ba904e7d2	pro6000_加入lab资产	2026-03-04 16:46:15 +08:00
hangX	c7c88e5d8d	pro6000_xh配置	2026-03-04 16:45:34 +08:00
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