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
55 lines
1.5 KiB
TypeScript
55 lines
1.5 KiB
TypeScript
export function getOrCreateCanvas(
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id: string,
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resolution?: { width: number; height: number }
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): HTMLCanvasElement {
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let canvas = document.getElementById(id) as HTMLCanvasElement | null;
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if (!canvas) {
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canvas = document.createElement('canvas') as HTMLCanvasElement;
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canvas.id = id;
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// canvas.style.display = "none";
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document.body.appendChild(canvas);
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}
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if (!canvas) {
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throw new Error('Failed to create canvas');
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}
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if (resolution) {
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canvas.width = resolution.width;
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canvas.height = resolution.height;
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}
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return canvas;
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}
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export function logOrThrow(tagString: string, gl: WebGL2RenderingContext) {
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const err = gl.getError();
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if (err !== gl.NO_ERROR) {
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let errorString;
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switch (err) {
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case gl.INVALID_ENUM:
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errorString = 'INVALID_ENUM';
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break;
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case gl.INVALID_VALUE:
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errorString = 'INVALID_VALUE';
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break;
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case gl.INVALID_OPERATION:
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errorString = 'INVALID_OPERATION';
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break;
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case gl.INVALID_FRAMEBUFFER_OPERATION:
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errorString = 'INVALID_FRAMEBUFFER_OPERATION';
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break;
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case gl.OUT_OF_MEMORY:
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errorString = 'OUT_OF_MEMORY';
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break;
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case gl.CONTEXT_LOST_WEBGL:
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errorString = 'CONTEXT_LOST_WEBGL';
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break;
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default:
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errorString = 'UNKNOWN_ERROR';
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break;
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}
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throw new Error('WebGL error: ' + tagString + ': ' + errorString + ' (' + err + ')');
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} else {
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console.debug('WebGL no-error: ' + tagString);
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}
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}
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