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
42 lines
1.1 KiB
JavaScript
42 lines
1.1 KiB
JavaScript
const { merge } = require('webpack-merge')
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const common = require('./webpack.common.js')
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const path = require('path')
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// Check if HTTPS mode is enabled via environment variable
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const useHttps = process.env.HTTPS === 'true'
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module.exports = merge(common, {
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mode: 'development',
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devtool: 'eval-source-map',
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devServer: {
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allowedHosts: 'all',
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hot: true,
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open: false,
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port: 8080,
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// Enable HTTPS with self-signed certificate when HTTPS=true
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...(useHttps && { server: 'https' }),
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static: {
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directory: path.join(__dirname, './build'),
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watch: true,
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},
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watchFiles: {
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paths: ['src/**/*', '../../build/**/*'],
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options: {
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usePolling: false,
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ignored: /node_modules/,
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},
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},
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client: {
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progress: true,
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overlay: {
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errors: true,
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warnings: false,
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},
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},
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devMiddleware: {
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writeToDisk: true,
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},
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},
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})
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console.log(module.exports); |