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
169 lines
8.8 KiB
JavaScript
169 lines
8.8 KiB
JavaScript
const path = require('path');
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const HtmlWebpackPlugin = require('html-webpack-plugin');
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const CopyWebpackPlugin = require('copy-webpack-plugin');
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const webpack = require('webpack');
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const DownloadAssetsPlugin = require('./webpack-plugins/DownloadAssetsPlugin');
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const WEBXR_ASSETS_VERSION = '1.0.19';
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module.exports = {
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entry: './src/index.tsx',
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// Module rules define how different file types are processed
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module: {
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rules: [
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{
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test: /\.tsx?$/,
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use: {
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loader: 'ts-loader',
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options: {
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// Only transpile, don't type-check (faster builds)
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transpileOnly: true,
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},
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},
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exclude: /node_modules/,
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},
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{
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test: /\.css$/,
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use: ['style-loader', 'css-loader'],
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},
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],
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},
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// Resolve configuration for module resolution
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resolve: {
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extensions: ['.tsx', '.ts', '.js'],
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alias: {
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// @helpers can be used instead of relative paths to the helpers directory
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'@helpers': path.resolve(__dirname, '../helpers')
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}
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},
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// Output configuration for bundled files
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output: {
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filename: 'bundle.js',
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path: path.resolve(__dirname, './build'),
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},
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// Webpack plugins that extend webpack's functionality
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plugins: [
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// Generates HTML file and automatically injects bundled JavaScript
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new HtmlWebpackPlugin({
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template: './src/index.html',
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favicon: './favicon.ico'
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}),
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// Inject environment variables
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new webpack.DefinePlugin({
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'process.env.WEBXR_ASSETS_VERSION': JSON.stringify(WEBXR_ASSETS_VERSION),
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}),
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// Download external assets during build
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new DownloadAssetsPlugin([
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// HDRI environment map
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{
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url: 'https://dl.polyhaven.org/file/ph-assets/HDRIs/hdr/1k/potsdamer_platz_1k.hdr',
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output: path.resolve(__dirname, 'public/assets/hdri')
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},
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// WebXR controller profiles
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{
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url: `https://cdn.jsdelivr.net/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/profilesList.json`,
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output: path.resolve(__dirname, `public/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles`)
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},
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// Generic hand profile
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{
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url: `https://cdn.jsdelivr.net/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/generic-hand/profile.json`,
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output: path.resolve(__dirname, `public/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/generic-hand`)
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},
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{
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url: `https://cdn.jsdelivr.net/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/generic-hand/left.glb`,
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output: path.resolve(__dirname, `public/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/generic-hand`)
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},
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{
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url: `https://cdn.jsdelivr.net/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/generic-hand/right.glb`,
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output: path.resolve(__dirname, `public/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/generic-hand`)
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},
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// Generic trigger profile
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{
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url: `https://cdn.jsdelivr.net/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/generic-trigger/profile.json`,
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output: path.resolve(__dirname, `public/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/generic-trigger`)
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},
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{
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url: `https://cdn.jsdelivr.net/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/generic-trigger/left.glb`,
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output: path.resolve(__dirname, `public/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/generic-trigger`)
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},
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{
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url: `https://cdn.jsdelivr.net/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/generic-trigger/right.glb`,
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output: path.resolve(__dirname, `public/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/generic-trigger`)
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},
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// Oculus Touch v2
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{
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url: `https://cdn.jsdelivr.net/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/oculus-touch-v2/profile.json`,
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output: path.resolve(__dirname, `public/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/oculus-touch-v2`)
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},
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{
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url: `https://cdn.jsdelivr.net/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/oculus-touch-v2/left.glb`,
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output: path.resolve(__dirname, `public/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/oculus-touch-v2`)
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},
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{
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url: `https://cdn.jsdelivr.net/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/oculus-touch-v2/right.glb`,
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output: path.resolve(__dirname, `public/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/oculus-touch-v2`)
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},
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// Oculus Touch v3
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{
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url: `https://cdn.jsdelivr.net/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/oculus-touch-v3/profile.json`,
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output: path.resolve(__dirname, `public/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/oculus-touch-v3`)
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},
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{
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url: `https://cdn.jsdelivr.net/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/oculus-touch-v3/left.glb`,
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output: path.resolve(__dirname, `public/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/oculus-touch-v3`)
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},
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{
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url: `https://cdn.jsdelivr.net/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/oculus-touch-v3/right.glb`,
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output: path.resolve(__dirname, `public/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/oculus-touch-v3`)
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},
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// Meta Quest Touch Plus
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{
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url: `https://cdn.jsdelivr.net/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/meta-quest-touch-plus/profile.json`,
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output: path.resolve(__dirname, `public/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/meta-quest-touch-plus`)
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},
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{
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url: `https://cdn.jsdelivr.net/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/meta-quest-touch-plus/left.glb`,
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output: path.resolve(__dirname, `public/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/meta-quest-touch-plus`)
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},
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{
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url: `https://cdn.jsdelivr.net/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/meta-quest-touch-plus/right.glb`,
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output: path.resolve(__dirname, `public/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/meta-quest-touch-plus`)
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},
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// Pico 4 Ultra
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{
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url: `https://cdn.jsdelivr.net/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/pico-4u/profile.json`,
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output: path.resolve(__dirname, `public/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/pico-4u`)
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},
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{
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url: `https://cdn.jsdelivr.net/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/pico-4u/left.glb`,
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output: path.resolve(__dirname, `public/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/pico-4u`)
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},
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{
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url: `https://cdn.jsdelivr.net/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/pico-4u/right.glb`,
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output: path.resolve(__dirname, `public/npm/@webxr-input-profiles/assets@${WEBXR_ASSETS_VERSION}/dist/profiles/pico-4u`)
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},
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]),
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// Copies static assets from public directory to build output
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new CopyWebpackPlugin({
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patterns: [
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{
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from: 'public',
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to: '.',
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globOptions: {
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// Don't copy index.html since HtmlWebpackPlugin handles it
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ignore: ['**/index.html'],
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},
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},
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{ from: './favicon.ico', to: 'favicon.ico' },
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],
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}),
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],
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};
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