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mindbot/deps/cloudxr/docs/documents/Telemetry.html
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

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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>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>
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