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31 changes: 20 additions & 11 deletions docs/source/how-to/cloudxr_teleoperation.rst
Original file line number Diff line number Diff line change
Expand Up @@ -63,16 +63,13 @@ Prior to using CloudXR with Isaac Lab, please review the following system requir
* Isaac Lab workstation

* Ubuntu 22.04 or Ubuntu 24.04
* Hardware requirements to sustain 45 FPS with a 120Hz physics simulation:
* CPU: 16-Cores AMD Ryzen Threadripper Pro 5955WX or higher
* Memory: 64GB RAM
* GPU: 1x RTX PRO 6000 GPUs (or equivalent e.g. 1x RTX 5090) or higher
* For details on driver requirements, please see the `Technical Requirements <https://docs.omniverse.nvidia.com/materials-and-rendering/latest/common/technical-requirements.html>`_ guide
* `Docker`_ 26.0.0+, `Docker Compose`_ 2.25.0+, and the `NVIDIA Container Toolkit`_. Refer to
the Isaac Lab :ref:`deployment-docker` for how to install.
* For details on driver requirements, please see the `Technical Requirements <https://docs.omniverse.nvidia.com/materials-and-rendering/latest/common/technical-requirements.html>`_ guide
* CPU
* Intel: 16-core Intel Core i9, X-series or higher
* AMD: Ryzen 9 5900XT, Ryzen Threadripper PRO 5955WX or higher
* Memory: 64GB RAM
* GPU
* Minimum: 1x RTX PRO 6000 GPUs (or equivalent e.g. 1x RTX 5090)
* Recommended: 2x RTX PRO 6000 GPUs (or equivalent e.g. 2x RTX 5090)

* Apple Vision Pro

Expand Down Expand Up @@ -282,11 +279,11 @@ On your Mac:
+-------------------+---------------------+
| Isaac Lab Version | Client App Version |
+-------------------+---------------------+
| 2.3.x | v2.3.0 |
| 2.3 | v2.3.0 |
+-------------------+---------------------+
| 2.2.x | v2.2.0 |
| 2.2 | v2.2.0 |
+-------------------+---------------------+
| 2.1.x | v1.0.0 |
| 2.1 | v1.0.0 |
+-------------------+---------------------+

.. code-block:: bash
Expand Down Expand Up @@ -988,6 +985,11 @@ Known Issues
This error message can be safely ignored. It is caused by a race condition in the exit handler for
AR Mode.

* ``XR_ERROR_INSTANCE_LOST in xrPollEvent: Call to "xrt_session_poll_events" failed``

This error may occur if the CloudXR runtime exits before Isaac Lab. Restart the CloudXR
runtime to resume teleoperation.

* ``[omni.usd] TF_PYTHON_EXCEPTION`` when starting/stopping AR Mode

This error message can be safely ignored. It is caused by a race condition in the enter/exit
Expand All @@ -998,6 +1000,13 @@ Known Issues
This error message can be caused by shader assets authored with older versions of USD, and can
typically be ignored.

* The XR device connects successfully, but no video is displayed, even though the Isaac Lab viewport responds to tracking.

This error occurs when the GPU index differs between the host and the container, causing CUDA
to load on the wrong GPU. To fix this, set ``NV_GPU_INDEX`` in the runtime container to ``0``, ``1``,
or ``2`` to ensure the GPU selected by CUDA matches the host.


Kubernetes Deployment
---------------------

Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -61,7 +61,7 @@ For tasks that benefit from the use of an extended reality (XR) device with hand

.. note::

See :ref:`cloudxr-teleoperation` to learn more about using CloudXR with Isaac Lab.
See :ref:`cloudxr-teleoperation` to learn how to use CloudXR and experience teleoperation with Isaac Lab.


The script prints the teleoperation events configured. For keyboard,
Expand Down
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