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
14 lines
2.2 KiB
Docker
14 lines
2.2 KiB
Docker
FROM haproxy:3.2
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USER root
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RUN apt-get update && apt-get install -y bash gettext-base openssl && rm -rf /var/lib/apt/lists/*
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RUN mkdir -p /usr/local/etc/haproxy/certs && chown -R haproxy:haproxy /usr/local/etc/haproxy
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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
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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
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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
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USER haproxy
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ENTRYPOINT ["/entrypoint.sh"]
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