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
41 lines
1.1 KiB
JavaScript
41 lines
1.1 KiB
JavaScript
const path = require('path');
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const HtmlWebpackPlugin = require('html-webpack-plugin');
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module.exports = {
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entry: './src/main.ts',
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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: 'ts-loader',
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exclude: /node_modules/,
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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: ['.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: './index.html',
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favicon: './favicon.ico'
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})
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]
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}; |