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
React Three Fiber Example
This is a comprehensive CloudXR.js React Three Fiber example application that demonstrates how to integrate CloudXR streaming with modern React development patterns. This example showcases the power of combining CloudXR.js with React Three Fiber, React Three XR, and React Three UIKit to create immersive XR experiences with rich 3D user interfaces.
NOTE: This example is not meant to be used for production.
Overview
This example showcases the integration of CloudXR.js with the React Three Fiber ecosystem, providing:
- React Three Fiber Integration: Seamless integration with Three.js through React components
- React Three XR: WebXR session management with React hooks and state management
- React Three UIKit: Rich 3D user interface components for VR/AR experiences
- CloudXR Streaming: Real-time streaming of XR content from a CloudXR server
- Modern React Patterns: Hooks, context, and component-based architecture
- Dual UI System: 2D HTML interface for configuration and 3D VR interface for interaction
Quick Start
Prerequisites
- Node.js (v20 or higher)
- A CloudXR server running and accessible
- A WebXR-compatible device (VR headset, AR device)
Installation
-
Navigate to the example folder
cd react -
Install Dependencies
# For this early access release, please run the following to install SDK from the given tarball. This step will not be needed when SDK is publicly accessible. npm install ../nvidia-cloudxr-6.0.0-beta.tgz npm install -
Build the Application
npm run build -
Start Development Server
npm run dev-server -
Open in Browser
- Navigate to
http://localhost:8080(or the port shown in terminal) - For desktop browsers, IWER (Immersive Web Emulator Runtime) will automatically load to emulate a Meta Quest 3 headset
- Navigate to
Basic Usage
-
Configure Connection
- Enter your CloudXR server IP address
- Set the port (default: 49100)
- Select AR or VR immersive mode
-
Adjust Settings (Optional)
- Configure per-eye resolution (perEyeWidth and perEyeHeight, must be multiples of 16)
- Set target frame rate and bitrate
- Adjust XR reference space
-
Start Streaming
- Click "CONNECT" to initiate the XR session
- Grant XR permissions when prompted
NOTE: In order to connect to an actual server and start streaming, you need:
- A CloudXR server running and accessible
- A WebXR-compatible device (VR/AR headset) or desktop browser (IWER loads automatically for emulation)
Technical Architecture
Core Components
App.tsx
Main React application component managing:
- XR store configuration and session state
- CloudXR component integration
- 2D UI management and event handling
- Error handling and capability checking
- React Three Fiber Canvas setup
CloudXRComponent.tsx
Handles the core CloudXR streaming functionality:
- CloudXR session lifecycle management
- WebXR session event handling
- WebGL state management and render target preservation
- Frame-by-frame rendering loop with pose tracking
- Integration with Three.js WebXRManager
CloudXR2DUI.tsx
Manages the 2D HTML interface:
- Form field management and localStorage persistence
- Proxy configuration based on protocol
- Event listener management and cleanup
- Error handling and user feedback
- Configuration validation and updates
CloudXRUI.tsx (3D UI)
Renders the in-VR user interface:
- React Three UIKit components for 3D UI
- Interactive control buttons with hover effects
- Server information and status display
- Event handler integration
Development
Project Structure
react/
├── src/
│ ├── App.tsx # Main React application
│ ├── CloudXRComponent.tsx # CloudXR streaming component
│ ├── CloudXR2DUI.tsx # 2D UI management class
│ ├── CloudXRUI.tsx # 3D VR UI component
│ ├── index.tsx # React app entry point
│ └── index.html # HTML template
├── public/
│ ├── play-circle.svg # Play button icon (Heroicons)
│ ├── stop-circle.svg # Stop button icon (Heroicons)
│ ├── arrow-uturn-left.svg # Reset button icon (Heroicons)
│ └── arrow-left-start-on-rectangle.svg # Disconnect button icon (Heroicons)
├── package.json # Dependencies and scripts
├── webpack.common.js # Webpack configuration
├── webpack.dev.js # Development webpack config
├── webpack.prod.js # Production webpack config
└── tsconfig.json # TypeScript configuration
React Three Fiber Integration
XR Store Configuration
The application uses React Three XR's store for XR session management:
const store = createXRStore({
foveation: 0,
emulate: { syntheticEnvironment: false },
});
Canvas Setup
React Three Fiber Canvas with WebXR integration:
<Canvas events={noEvents} gl={{ preserveDrawingBuffer: true }}>
<XR store={store}>
<CloudXRComponent config={config} />
<CloudXR3DUI onAction1={handleAction1} />
</XR>
</Canvas>
Custom Render Loop
The CloudXR component uses useFrame for custom rendering:
useFrame((state, delta) => {
if (webXRManager.isPresenting && session) {
// CloudXR rendering logic
cxrSession.sendTrackingStateToServer(timestamp, xrFrame);
cxrSession.render(timestamp, xrFrame, layer);
}
}, -1000);
3D User Interface
React Three UIKit Components
The 3D UI uses React Three UIKit for modern VR/AR interfaces:
- Container: Layout and positioning components
- Text: 3D text rendering with custom fonts
- Button: Interactive buttons with hover effects
- Image: Texture-based image display
- Root: Main UI container with pixel-perfect rendering
UI Positioning
3D UI elements are positioned in world space:
<group position={[1.8, -0.5, -1.3]} rotation={[0, -0.3, 0]}>
<Root pixelSize={0.001} width={1920} height={1440}>
{/* UI components */}
</Root>
</group>
WebGL State Tracking
This example uses WebGL state tracking to prevent rendering conflicts between React Three Fiber and CloudXR. Both libraries render to the same WebGL context, but CloudXR's rendering operations modify WebGL state (framebuffers, textures, buffers, VAOs, shaders, blend modes, etc.) which can interfere with React Three Fiber's expectations. The example wraps the WebGL context with bindGL() from @helpers/WebGLStateBinding, then uses CloudXR's onWebGLStateChangeBegin and onWebGLStateChangeEnd callbacks to automatically save and restore state around CloudXR's rendering. This ensures React Three Fiber always finds the WebGL context in the expected state after each CloudXR render operation.
See examples/helpers/WebGLStateBinding.ts, WebGLState.ts, and WebGLStateApply.ts for implementation details. Comprehensive tests are available in tests/unit/WebGLState.test.ts and tests/playwright/WebGLTests/src/WebGLStateBindingTests.ts.
License
See the LICENSE file for details.
Third-Party Assets
Icons used in the immersive UI are from Heroicons by Tailwind Labs, licensed under the MIT License. See HEROICONS_LICENSE for details.