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
307 lines
22 KiB
Plaintext
307 lines
22 KiB
Plaintext
NVIDIA SOFTWARE EVALUATION LICENSE AGREEMENT
|
||
|
||
IMPORTANT NOTICE – PLEASE READ AND AGREE BEFORE USING THE SOFTWARE
|
||
|
||
This software evaluation license agreement (“Agreement”) is a legal agreement between you, whether an
|
||
individual or entity, (“you”) and NVIDIA Corporation and its affiliates (“NVIDIA”) and governs the use of certain
|
||
NVIDIA CloudXR software and documentation that NVIDIA delivers to you under this Agreement (“Software”).
|
||
NVIDIA and you are each a “party” and collectively the “parties.”
|
||
This Agreement can be accepted only by an adult of legal age of majority in the country in which the Software is
|
||
used. If you don’t have the required age or authority to accept this Agreement, or if you don’t accept all the
|
||
terms and conditions of this Agreement, do not use the Software.
|
||
|
||
1. License Grants.
|
||
|
||
1.1 License Grant to You. The Software is licensed, not sold. Subject to the terms of this Agreement,
|
||
NVIDIA grants you a limited, non-exclusive, revocable, non-transferable, non-sublicensable (except
|
||
as expressly granted in this Agreement), license to:
|
||
(a) access, install and use copies of the Software,
|
||
(b) configure the Software using configuration files provided (if applicable),
|
||
(c) modify and create derivative works of any source code NVIDIA delivers to you as part of the
|
||
Software (“Derivatives”) (if applicable).
|
||
|
||
All the foregoing grants are only for internal test and evaluation purposes and, as applicable, for use (a) in
|
||
client systems, or (b) in server systems with NVIDIA GPUs (“Purpose”).
|
||
|
||
1.2 License Grant to NVIDIA. Subject to the terms of this Agreement, you grant NVIDIA a non-exclusive,
|
||
perpetual, irrevocable, sublicensable, worldwide, royalty-free, fully paid-up and transferable license,
|
||
under your intellectual property rights, to publicly perform, publicly display, reproduce, use, make,
|
||
have made, sell, offer for sale, distribute (through multiple tiers of distribution), import, create
|
||
derivative works of and otherwise commercialize and exploit at NVIDIA’s discretion any Derivatives
|
||
created by or for you. You may, but are not required to, deliver any Derivatives to NVIDIA.
|
||
|
||
2. License Restrictions. Your license to use the Software and Derivatives is restricted as stated in this “License
|
||
Restrictions” Section. You will cooperate with NVIDIA and, upon NVIDIA’s written request, you will confirm
|
||
in writing and provide reasonably requested information to verify your compliance with the terms of this
|
||
Agreement. You may not:
|
||
|
||
2.1 Use the Software or Derivatives for any purpose other than the Purpose, including but not limited to
|
||
in production;
|
||
|
||
2.2 Sell, rent, sublicense, transfer, distribute or otherwise make available to others (except Authorized
|
||
Users as stated in the “Authorized Users” Section) any portion of the Software or Derivatives, except
|
||
as expressly granted in Section 1.1 (“License Grant to You”);
|
||
|
||
2.3 Reverse engineer, decompile, or disassemble the Software components provided in binary form, nor
|
||
attempt in any other manner to obtain source code of such Software;
|
||
|
||
2.4 Modify or create derivative works of the Software, except as expressly granted in Section 1.1
|
||
(“License Grant to You”);
|
||
|
||
2.5 Change or remove copyright or other proprietary notices in the Software;
|
||
|
||
2.6 Bypass, disable, or circumvent any technical limitation, encryption, security, digital rights
|
||
management or authentication mechanism in the Software;
|
||
|
||
2.7 Use the Software or Derivatives in any manner that would cause them to become subject to an open
|
||
source software license; subject to the terms in Section 7 (“Components Under Other Licenses”);
|
||
|
||
2.8 Use the Software or Derivatives for the purpose of developing competing products or technologies
|
||
or assist a third party in such activities;
|
||
|
||
2.9 Replace any Software components governed by this Agreement with other software that
|
||
implements NVIDIA APIs;
|
||
|
||
2.10 Use the Software or Derivatives in violation of any applicable law or regulation in the relevant
|
||
jurisdictions; or
|
||
|
||
2.11 Use the Software in or with any system or application where the use or failure of such system or
|
||
application developed or deployed with Software could result in injury, death or catastrophic
|
||
damage (“Mission Critical Applications”). NVIDIA will not be liable to you or any third party, in whole
|
||
or in part, for any claims or damages arising from uses in Mission Critical Applications.
|
||
|
||
2.12 Disclose any evaluation or test results regarding the Software or Derivatives without NVIDIA’s prior
|
||
written consent.
|
||
|
||
3. Authorized Users. You may allow employees and contractors of your entity or of your subsidiary(ies), and
|
||
for educational institutions also enrolled students, to internally access and use the Software as authorized
|
||
by this Agreement from your secure network to perform the work authorized by this Agreement on your
|
||
behalf. You are responsible for the compliance with the terms of this Agreement by your authorized users.
|
||
Any act or omission that if committed by you would constitute a breach of this Agreement will be deemed to
|
||
constitute a breach of this Agreement if committed by your authorized users.
|
||
|
||
4. Pre-Release. Software versions identified as alpha, beta, preview, early access or otherwise as pre-release
|
||
may not be fully functional, may contain errors or design flaws, and may have reduced or different security,
|
||
privacy, availability and reliability standards relative to NVIDIA commercial offerings. You use pre-release
|
||
Software at your own risk. NVIDIA did not design or test the Software for use in production or business
|
||
critical systems. NVIDIA may choose not to make available a commercial version of pre-release Software.
|
||
NVIDIA may also choose to abandon development and terminate the availability of pre-release Software at
|
||
any time without liability.
|
||
|
||
5. Your Privacy: Collection and Use of Information.
|
||
|
||
5.1 Privacy Policy. Please review the NVIDIA Privacy Policy, located at https://www.nvidia.com/enus/about-nvidia/privacy-policy, which explains NVIDIA’s policy for collecting and using data, as well
|
||
as visit the NVIDIA Privacy Center, located at https://www.nvidia.com/en-us/privacy-center, to
|
||
manage your consent and privacy preferences.
|
||
|
||
5.2 Collection Purposes. You also acknowledge that the Software collects data for the following
|
||
purposes: (a) properly configure and optimize products for use with Software; and (b) improve
|
||
NVIDIA products and services. Information collected by the Software includes: (i) application
|
||
configuration; (ii) browser version; (iii) and session metadata (i.e. performance and usage
|
||
statistics). Additionally, NVIDIA may collect certain personal information, such as your name
|
||
and email address or those of your authorized users, and other information necessary to
|
||
authenticate and enable you or your authorized users’ access to the Software. Where appropriate
|
||
you will disclose to, and obtain any necessary consent from, your authorized users to allow NVIDIA
|
||
to collect such information.
|
||
|
||
5.3 Third Party Privacy Practices. The Software may contain links to third party websites and services.
|
||
NVIDIA encourages you to review the privacy statements on those sites and services that you choose
|
||
to visit to understand how they may collect, use and share your data. NVIDIA is not responsible for
|
||
the privacy statements or practices of third-party sites or services.
|
||
|
||
6. Updates. NVIDIA may at any time and at its option, change, discontinue, or deprecate any part, or all, of the
|
||
Software, or change or remove features or functionality, or make available patches, workarounds or other
|
||
updates to the Software. Unless the updates are provided with their separate governing terms, they are
|
||
deemed part of the Software licensed to you under this Agreement, and your continued use of the Software
|
||
is deemed acceptance of such changes.
|
||
|
||
7. Components Under Other Licenses. The Software may include or be distributed with components provided
|
||
with separate legal notices or terms that accompany the components, such as open source software licenses
|
||
and other license terms (“Other Licenses”). The components are subject to the applicable Other Licenses,
|
||
including any proprietary notices, disclaimers, requirements and extended use rights; except that this
|
||
Agreement will prevail regarding the use of third-party open source software, unless a third-party open
|
||
source software license requires its license terms to prevail. Open source software license means any
|
||
software, data or documentation subject to any license identified as an open source license by the Open
|
||
Source Initiative (http://opensource.org), Free Software Foundation (http://www.fsf.org) or other similar
|
||
open source organization or listed by the Software Package Data Exchange (SPDX) Workgroup under the
|
||
Linux Foundation (http://www.spdx.org).
|
||
|
||
8. Ownership.
|
||
|
||
8.1 NVIDIA Ownership. The Software, including all intellectual property rights, is and will remain the sole
|
||
and exclusive property of NVIDIA or its licensors. Except as expressly granted in this Agreement,
|
||
(a) NVIDIA reserves all rights, interests and remedies in connection with the Software, and (b) no
|
||
other license or right is granted to you by implication, estoppel or otherwise.
|
||
|
||
8.2 Your Ownership. Subject to the rights of NVIDIA and its suppliers in the Software, which continue to
|
||
be licensed as stated in this Agreement, even when incorporated in your products, and the extent
|
||
permitted by applicable law, as between you and NVIDIA, you hold all rights, title and interest in and
|
||
to your services, applications and Derivatives you develop as permitted in this Agreement including
|
||
their respective intellectual property rights.
|
||
|
||
9. Feedback. You may, but are not obligated to, provide suggestions, requests, fixes, modifications,
|
||
enhancements or other feedback regarding your use of the Software (“Feedback”). Feedback, even if
|
||
designated as confidential by you, will not create any confidentiality obligation for NVIDIA or its affiliates. If
|
||
you provide Feedback, you hereby grant NVIDIA, its affiliates and its designees a nonexclusive, perpetual,
|
||
irrevocable, sublicensable, worldwide, royalty-free, fully paid-up and transferable license, under your
|
||
intellectual property rights, to publicly perform, publicly display, reproduce, use, make, have made, sell,
|
||
offer for sale, distribute (through multiple tiers of distribution), import, create derivative works of and
|
||
otherwise commercialize and exploit the Feedback at NVIDIA’s discretion.
|
||
|
||
10. Confidentiality. You may use confidential information only to exercise your rights and perform your
|
||
obligations under this Agreement. You will not disclose, nor authorize others to disclose NVIDIA Confidential
|
||
Information to any third party, except as expressly authorized in this Agreement and as necessary for the
|
||
Purpose, without obtaining NVIDIA’s prior written approval. Each recipient of confidential information must
|
||
be subject to a written agreement that includes confidentiality obligations consistent with these terms and
|
||
must have a need to know for the Purpose. You will protect the NVIDIA Confidential Information with at
|
||
least the same degree of care that you use to protect your own similar confidential and proprietary
|
||
information, but no less than a reasonable degree of care. Confidential information includes, but is not
|
||
limited to, the Software, including its features and functionality, Derivatives, and any results of
|
||
benchmarking or other competitive analysis or regression or performance data relating to the Software.
|
||
No Publicity. You may not issue any public statements about this Agreement, disclose the Software or
|
||
Derivatives, or any information or results related to your use of the Software, without prior written approval
|
||
of NVIDIA.
|
||
|
||
11. Term and Termination.
|
||
|
||
11.1 Term. This Agreement has a duration of twelve (12) months starting from the date of initial
|
||
download (even if you download the same version or updates of the Software later and it is
|
||
accompanied by this Agreement or another Agreement), unless terminated earlier in accordance
|
||
with this Agreement.
|
||
|
||
11.2 Termination for Convenience. Either party may terminate this Agreement at any time with thirty (30)
|
||
days’ advance written notice to the other party.
|
||
|
||
11.3 Termination for Cause. If you commence or participate in any legal proceeding against NVIDIA with
|
||
respect to the Software, this Agreement will terminate immediately without notice. Either party may
|
||
terminate this Agreement upon notice for cause if:
|
||
(a) the other party fails to cure a material breach of this Agreement within ten (10) days of the
|
||
non-breaching party’s notice of the breach; or
|
||
(b) the other party breaches its confidentiality obligations or license rights under this
|
||
Agreement, which termination will be effective immediately upon written notice.
|
||
|
||
11.4 Effect of Termination. Upon any expiration or termination of this Agreement, you will promptly
|
||
(a) stop using and return, delete or destroy NVIDIA confidential information and all Software
|
||
received under this Agreement, and (b) delete or destroy Derivatives created under this Agreement,
|
||
unless an authorized NVIDIA representative provides prior written approval that you may keep a
|
||
copy of the Derivatives solely for archival purposes. Upon written request, you will certify in writing
|
||
that you have complied with your obligations under this “Effect of Termination” Section.
|
||
|
||
11.5 Survival. The “License Grant to NVIDIA”, “Updates”, “Components Under Other Licenses”,
|
||
“Ownership”, “Feedback”, “Confidentiality”, “No Publicity”, “Effect of Termination”, “Survival”,
|
||
“Disclaimer of Warranties”, “Limitation of Liability”, “Indemnity” and all “General” Sections of this
|
||
Agreement will survive any expiration or termination of this Agreement.
|
||
|
||
12. Disclaimer of Warranties. THE SOFTWARE IS PROVIDED BY NVIDIA AS-IS AND WITH ALL FAULTS. TO THE
|
||
MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW, NVIDIA DISCLAIMS ALL WARRANTIES AND
|
||
REPRESENTATIONS OF ANY KIND, WHETHER EXPRESS, IMPLIED OR STATUTORY, RELATING TO OR ARISING
|
||
UNDER THIS AGREEMENT, INCLUDING, WITHOUT LIMITATION, THE WARRANTIES OF TITLE,
|
||
NONINFRINGEMENT, MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, USAGE OF TRADE AND
|
||
COURSE OF DEALING. NVIDIA DOES NOT WARRANT OR ASSUME RESPONSIBILITY FOR THE ACCURACY OR
|
||
COMPLETENESS OF ANY THIRD-PARTY INFORMATION, TEXT, GRAPHICS, LINKS CONTAINED IN THE
|
||
SOFTWARE. WITHOUT LIMITING THE FOREGOING, NVIDIA DOES NOT WARRANT THAT THE SOFTWARE WILL
|
||
MEET YOUR REQUIREMENTS, ANY DEFECTS OR ERRORS WILL BE CORRECTED, ANY CERTAIN CONTENT WILL
|
||
BE AVAILABLE; OR THAT THE SOFTWARE IS FREE OF VIRUSES OR OTHER HARMFUL COMPONENTS. NO
|
||
INFORMATION OR ADVICE GIVEN BY NVIDIA WILL IN ANY WAY INCREASE THE SCOPE OF ANY WARRANTY
|
||
EXPRESSLY PROVIDED IN THIS AGREEMENT. YOU ARE SOLELY RESPONSIBLE FOR DETERMINING THE
|
||
APPROPRIATENESS OF USING THE SOFTWARE OR DERIVATIVES AND ASSUME ANY RISKS ASSOCIATED WITH
|
||
YOUR USE OF THE SOFTWARE OR DERIVATIVES.
|
||
|
||
13. Limitations of Liability.
|
||
|
||
13.1 EXCLUSIONS. TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW, IN NO EVENT WILL
|
||
NVIDIA BE LIABLE FOR ANY (A) INDIRECT, PUNITIVE, SPECIAL, INCIDENTAL OR CONSEQUENTIAL
|
||
DAMAGES, OR (B) DAMAGES FOR THE (I) COST OF PROCURING SUBSTITUTE GOODS OR (II) LOSS OF
|
||
PROFITS, REVENUES, USE, DATA OR GOODWILL ARISING OUT OF OR RELATED TO THIS AGREEMENT,
|
||
WHETHER BASED ON BREACH OF CONTRACT, TORT (INCLUDING NEGLIGENCE), STRICT LIABILITY, OR
|
||
OTHERWISE, AND EVEN IF NVIDIA HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES AND
|
||
EVEN IF A PARTY’S REMEDIES FAIL THEIR ESSENTIAL PURPOSE.
|
||
|
||
13.2 DAMAGES CAP. ADDITIONALLY, TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW,
|
||
NVIDIA’S TOTAL CUMULATIVE AGGREGATE LIABILITY FOR ANY AND ALL LIABILITIES, OBLIGATIONS OR
|
||
CLAIMS ARISING OUT OF OR RELATED TO THIS AGREEMENT WILL NOT EXCEED ONE HUNDRED U.S.
|
||
DOLLARS (US$100).
|
||
|
||
14. Indemnity. You will defend, indemnify and hold harmless NVIDIA and its affiliates, and their respective
|
||
employees, contractors, agents, officers and directors, from and against any and all third party claims,
|
||
damages, obligations, losses, liabilities, costs or debt, fines, restitutions and expenses (including but not
|
||
limited to attorney’s fees and costs incident to establishing the right of indemnification) arising out of use of
|
||
the Software and Derivatives outside of the scope of this Agreement or in breach of the terms of this
|
||
Agreement.
|
||
|
||
15. General.
|
||
|
||
15.1 Governing Law and Jurisdiction. This Agreement will be governed in all respects by the laws of the
|
||
United States and the laws of the State of Delaware, without regard to conflict of laws principles or
|
||
the United Nations Convention on Contracts for the International Sale of Goods. The state and
|
||
federal courts residing in Santa Clara County, California will have exclusive jurisdiction over any
|
||
dispute or claim arising out of or related to this Agreement, and the parties irrevocably consent to
|
||
personal jurisdiction and venue in those courts; except that either party may apply for injunctive
|
||
remedies or an equivalent type of urgent legal relief in any jurisdiction.
|
||
|
||
15.2 Independent Contractors. The parties are independent contractors, and this Agreement does not
|
||
create a joint venture, partnership, agency or other form of business association between the
|
||
parties. Neither party will have the power to bind the other party or incur any obligation on its
|
||
behalf without the other party’s prior written consent. Nothing in this Agreement prevents either
|
||
party from participating in similar arrangements with third parties.
|
||
|
||
15.3 No Assignment. NVIDIA may assign, delegate or transfer its rights or obligations under this
|
||
Agreement by any means or operation of law. You may not, without NVIDIA’s prior written consent,
|
||
assign, delegate or transfer any of your rights or obligations under this Agreement by any means or
|
||
operation of law, and any attempt to do so is null and void.
|
||
|
||
15.4 No Waiver. No failure or delay by a party to enforce any term or obligation of this Agreement will
|
||
operate as a waiver by that party, or prevent the enforcement of such term or obligation later.
|
||
|
||
15.5 Trade Compliance. You agree to comply with all applicable export, import, trade and economic
|
||
sanctions laws and regulations, as amended, including without limitation U.S. Export Administration
|
||
Regulations and Office of Foreign Assets Control regulations. You confirm (a) your understanding
|
||
that export or reexport of certain NVIDIA products or technologies may require a license or other
|
||
approval from appropriate authorities and (b) that you will not export or reexport any products or
|
||
technology, directly or indirectly, without first obtaining any required license or other approval from
|
||
appropriate authorities, (i) to any countries that are subject to any U.S. or local export restrictions
|
||
(currently including, but not necessarily limited to, Belarus, Cuba, Iran, North Korea, Russia, Syria,
|
||
the Region of Crimea, Donetsk People’s Republic Region and Luhansk People’s Republic Region); (ii)
|
||
to any end-user who you know or have reason to know will utilize them in the design, development
|
||
or production of nuclear, chemical or biological weapons, missiles, rocket systems, unmanned air
|
||
vehicles capable of a maximum range of at least 300 kilometers, regardless of payload, or intended
|
||
for military end-use, or any weapons of mass destruction; (iii) to any end-user who has been
|
||
prohibited from participating in the U.S. or local export transactions by any governing authority; or
|
||
(iv) to any known military or military-intelligence end-user or for any known military or military-
|
||
intelligence end-use in accordance with U.S. trade compliance laws and regulations.
|
||
|
||
15.6 Government Rights. The Software, documentation and technology (“Protected Items”) are
|
||
“Commercial products” as this term is defined at 48 C.F.R. 2.101, consisting of “commercial
|
||
computer software” and “commercial computer software documentation” as such terms are used
|
||
in, respectively, 48 C.F.R. 12.212 and 48 C.F.R. 227.7202 & 252.227-7014(a)(1). Before any Protected
|
||
Items are supplied to the U.S. Government, you will (i) inform the U.S. Government in writing that
|
||
the Protected Items are and must be treated as commercial computer software and commercial
|
||
computer software documentation developed at private expense; (ii) inform the U.S. Government
|
||
that the Protected Items are provided subject to the terms of the Agreement; and (iii) mark the
|
||
Protected Items as commercial computer software and commercial computer software
|
||
documentation developed at private expense. In no event will you permit the U.S. Government to
|
||
acquire rights in Protected Items beyond those specified in 48 C.F.R. 52.227-19(b)(1)-(2) or 252.227-
|
||
7013(c) except as expressly approved by NVIDIA in writing.
|
||
|
||
15.7 Notices. Please direct your legal notices or other correspondence to legalnotices@nvidia.com with a
|
||
copy mailed to NVIDIA Corporation, 2788 San Tomas Expressway, Santa Clara, California 95051,
|
||
United States of America, Attention: Legal Department. If NVIDIA needs to contact you about the
|
||
Software, you consent to receive the notices by email and agree that such notices will satisfy any
|
||
legal communication requirements.
|
||
|
||
15.8 Severability. If a court of competent jurisdiction rules that a provision of this Agreement is
|
||
unenforceable, that provision will be deemed modified to the extent necessary to make it
|
||
enforceable and the remainder of this Agreement will continue in full force and effect.
|
||
|
||
15.9 Amendment. Any amendment to this Agreement must be in writing and signed by authorized
|
||
representatives of both parties.
|
||
|
||
15.10 Entire Agreement. Regarding the subject matter of this Agreement, the parties agree that (a) this
|
||
Agreement constitutes the entire and exclusive agreement between the parties and supersedes all
|
||
prior and contemporaneous communications and (b) any additional or different terms or conditions,
|
||
whether contained in purchase orders, order acknowledgments, invoices or otherwise, will not be
|
||
binding and are null and void.
|
||
|
||
(v. February 25, 2025)
|
||
|
||
NVIDIA Confidential |