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
16 lines
391 B
JSON
16 lines
391 B
JSON
{
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"compilerOptions": {
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"target": "ES6",
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"moduleResolution": "bundler",
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"strict": true,
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"lib": ["DOM", "DOM.Iterable", "ESNext", "WebWorker"],
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"skipLibCheck": true,
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"types": ["webxr"],
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"baseUrl": ".",
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"paths": {
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"@helpers/*": ["../helpers/*"]
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}
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},
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"include": ["**/*.ts", "types/**/*.d.ts"]
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}
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