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
1 line
17 KiB
JavaScript
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17 KiB
JavaScript
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"; 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