Files
mindbot/deps/cloudxr/helpers/overridePressureObserver.ts
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

36 lines
1.2 KiB
TypeScript

/**
* 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;
}
}
};
}