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
99 lines
3.4 KiB
TypeScript
99 lines
3.4 KiB
TypeScript
const IWER_version = '2.1.1';
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const IWER_DEVUI_version = '1.1.2';
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export interface IWERLoadResult {
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supportsImmersive: boolean;
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iwerLoaded: boolean;
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}
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export async function loadIWERIfNeeded(): Promise<IWERLoadResult> {
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let supportsImmersive = false;
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let iwerLoaded = false;
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if ('xr' in navigator) {
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try {
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const vr = await (navigator.xr as XRSystem).isSessionSupported?.('immersive-vr');
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const ar = await (navigator.xr as XRSystem).isSessionSupported?.('immersive-ar');
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supportsImmersive = Boolean(vr || ar);
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} catch (_) {}
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}
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if (!supportsImmersive) {
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console.info('Immersive mode not supported, loading IWER as fallback.');
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// Load IWER first
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const script = document.createElement('script');
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script.src = `https://unpkg.com/iwer@${IWER_version}/build/iwer.min.js`;
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script.async = true;
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script.integrity = 'sha384-ZOdYbNlfA4q9jkBGcdmjy2ZYmjxy2uzncU6it3cPOHi12/WF048bamSU0Z5N+V5u';
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script.crossOrigin = 'anonymous';
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await new Promise<void>(resolve => {
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script.onload = async () => {
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console.info('IWER loaded as fallback.');
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const IWERGlobal = (window as any).IWER || (globalThis as any).IWER;
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if (!IWERGlobal) {
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console.warn('IWER global not found after script load.');
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supportsImmersive = false;
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resolve();
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return;
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}
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// Load iwer-devui after IWER
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const devUIScript = document.createElement('script');
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devUIScript.src = `https://unpkg.com/@iwer/devui@${IWER_DEVUI_version}/build/iwer-devui.min.js`;
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devUIScript.async = true;
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devUIScript.integrity =
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'sha384-CG/gISX6PadiSzc8i2paU7CYLVsnVJaJ0tgoVnAPq/gyiTX6bddG5rwOgMDGlq74';
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devUIScript.crossOrigin = 'anonymous';
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await new Promise<void>(devUIResolve => {
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devUIScript.onload = () => {
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console.info('IWER DevUI loaded.');
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devUIResolve();
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};
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devUIScript.onerror = error => {
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console.warn('Failed to load IWER DevUI:', error);
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devUIResolve();
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};
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document.head.appendChild(devUIScript);
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});
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try {
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// Create XRDevice with Meta Quest 3 profile
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const xrDevice = new IWERGlobal.XRDevice(IWERGlobal.metaQuest3);
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// Initialize DevUI with the XR device
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const IWER_DevUI = (window as any).IWER_DevUI || (globalThis as any).IWER_DevUI;
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if (IWER_DevUI?.DevUI) {
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xrDevice.installDevUI(IWER_DevUI.DevUI);
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console.info('IWER DevUI initialized with XR device.');
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} else {
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console.warn('IWER DevUI not found after script load, continuing without DevUI.');
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}
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// Install the runtime and wait for it to be ready
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const maybePromise = xrDevice.installRuntime?.();
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if (maybePromise && typeof maybePromise.then === 'function') {
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await maybePromise;
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}
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supportsImmersive = true;
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iwerLoaded = true;
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} catch (e) {
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console.warn('IWER runtime install failed:', e);
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supportsImmersive = false;
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}
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resolve();
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};
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script.onerror = () => {
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console.warn('Failed to load IWER.');
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supportsImmersive = false;
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resolve();
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};
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document.head.appendChild(script);
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});
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}
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return { supportsImmersive, iwerLoaded };
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}
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