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
110 lines
2.8 KiB
JavaScript
110 lines
2.8 KiB
JavaScript
const fs = require('fs');
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const path = require('path');
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const https = require('https');
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class DownloadAssetsPlugin {
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constructor(assets) {
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this.assets = assets;
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this.hasRun = false;
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this.createdDirs = new Set();
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}
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safeUnlink(filePath) {
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try {
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fs.unlinkSync(filePath);
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} catch (err) {
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// Ignore cleanup errors
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}
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}
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apply(compiler) {
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compiler.hooks.beforeCompile.tapAsync('DownloadAssetsPlugin', (params, callback) => {
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// Only run once per webpack process
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if (this.hasRun) {
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callback();
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return;
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}
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console.log('📦 Checking and downloading required assets...');
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const downloadPromises = this.assets.map(asset => this.downloadFile(asset));
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Promise.allSettled(downloadPromises)
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.then((results) => {
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const failed = results.filter(r => r.status === 'rejected');
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if (failed.length > 0) {
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console.warn(`⚠️ ${failed.length} asset(s) failed to download, continuing anyway...`);
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}
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console.log('✅ Asset check complete!');
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this.hasRun = true;
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callback();
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});
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});
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}
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downloadFile({ url, output }) {
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return new Promise((resolve, reject) => {
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// Ensure directory exists (only once per unique path)
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if (!this.createdDirs.has(output)) {
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fs.mkdirSync(output, { recursive: true });
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this.createdDirs.add(output);
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}
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const filename = path.basename(url);
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const filePath = path.join(output, filename);
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// Skip if file already exists
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if (fs.existsSync(filePath)) {
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resolve();
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return;
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}
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console.log(` Downloading ${filename}...`);
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const file = fs.createWriteStream(filePath);
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const downloadFromUrl = (downloadUrl) => {
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https.get(downloadUrl, (response) => {
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// Handle redirects
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if (response.statusCode === 302 || response.statusCode === 301) {
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file.close();
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this.safeUnlink(filePath);
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downloadFromUrl(response.headers.location);
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return;
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}
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if (response.statusCode !== 200) {
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file.close();
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this.safeUnlink(filePath);
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reject(new Error(`Failed to download ${filename}: HTTP ${response.statusCode}`));
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return;
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}
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response.pipe(file);
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file.on('finish', () => {
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file.close();
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console.log(` ✓ Downloaded ${filename}`);
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resolve();
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});
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file.on('error', (err) => {
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this.safeUnlink(filePath);
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reject(err);
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});
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}).on('error', (err) => {
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if (fs.existsSync(filePath)) {
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this.safeUnlink(filePath);
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}
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reject(err);
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});
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};
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downloadFromUrl(url);
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});
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}
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}
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module.exports = DownloadAssetsPlugin;
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