yt lee
623e05f250
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
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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>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>
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<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>
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<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>
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<ul>
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<li>Open Meta Quest 3 Browser or desktop Google Chrome</li>
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<li>Navigate to <code>chrome://flags</code></li>
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<li>Search for "insecure", and locate "Treat insecure origins as secure"</li>
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<li><em>Enable the flag</em></li>
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<li>Then in the text box below the flag, add your development web server
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<ul>
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<li>You <em>must</em> include the protocol (<code>http</code>) and the port (<code>:8080</code>)</li>
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<li><code>http://your-ip-address:8080</code></li>
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</ul>
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</li>
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<li><em>De-focus the text box</em> by "clicking somewhere else"</li>
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<li>A "Relaunch" message should appear at the bottom of the window</li>
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<li>Click "Relaunch"</li>
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<li>Verify the flags are set as intended in <code>chrome://flags</code></li>
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</ul>
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<p><strong>For HTTPS Mode:</strong></p>
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<p>If you're using HTTPS mode (<code>https://</code>), you need to trust the SSL certificates:</p>
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<ul>
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<li>Navigate to your web server URL in the browser: <code>https://your-ip-address:8080</code></li>
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<li>Accept the certificate warning by clicking "Advanced" → "Proceed to [your-ip-address] (unsafe)"</li>
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<li>If using a WebSocket proxy, also trust its certificate by visiting: <code>https://your-proxy-ip:48322</code></li>
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</ul>
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<p>See the <a href="Client_Setup.html#trust-ssl-certificates-https-mode">Client Setup Guide</a> for detailed SSL certificate configuration.</p>
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<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.
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If the behavior persists, we advise to restart your Meta headset to clear up caches.</p>
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<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>
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<ul>
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<li>Verify the server address and port are correct</li>
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<li>Check network connectivity between client and server</li>
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<li>Ensure the CloudXR runtime is running on the server</li>
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<li>Verify firewall rules allow traffic</li>
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<li>Ensure UDP ports are not blocked</li>
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<li>Check for high network latency or packet loss</li>
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<li>Verify stable network connection (check for Wi-Fi disconnections)</li>
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<li>Test network quality (ping, bandwidth, packet loss)</li>
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<li>Ensure WebRTC is not blocked by browser settings or extensions</li>
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<li>Review network topology (double NAT, symmetric NAT issues)</li>
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<li>Setup TURN relay server if direct connection fails</li>
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<li>Check server configuration and logs</li>
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<li>Restart the CloudXR runtime if necessary</li>
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</ul>
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<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>
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<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>
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<ol>
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<li><strong>Check the console</strong> for error messages</li>
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<li>Test with <strong>different browsers</strong></li>
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<li>Verify <strong>server configuration and logs</strong></li>
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<li>Check <strong>network conditions</strong> and requirements</li>
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<li>Review <strong>the <a href="Session_API.html">Session API</a></strong> documentation</li>
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</ol>
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<p>For additional support, please reach out to NVIDIA CloudXR team.</p>
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</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>
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