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Isaac Teleop Dependencies

This directory contains all project dependencies, organized by type.

Structure

deps/
├── CMakeLists.txt           # Main dependencies build configuration
├── README.md                # This file
├── third_party/             # Third-party open source dependencies
│   ├── CMakeLists.txt       # Third-party dependencies build configuration (uses FetchContent)
│   └── README.md            # Third-party dependencies documentation
└── cloudxr/                 # CloudXR related files

How It Works

The deps/third_party/CMakeLists.txt centrally manages all third-party dependencies using CMake FetchContent:

  1. OpenXR SDK: Automatically fetched and built as a static library
  2. yaml-cpp: Automatically fetched and built as a static library
  3. pybind11: Fetched only when BUILD_PYTHON_BINDINGS=ON (header-only)
    • Makes pybind11::module target available to all Python binding modules

Dependencies are automatically downloaded during CMake configuration. No manual initialization is required.

This centralized approach prevents duplicate includes and ensures consistent configuration across all modules.

CloudXR Dependencies

The cloudxr/ folder contains files and configurations for deploying the NVIDIA CloudXR, it uses Docker Compose to setup the entire system with 3 different containers:

  1. CloudXR runtime
  2. Web server that hosts the CloudXR Web XR app
  3. WebSocket SSL proxy

System Dependencies

These are not fetched by CMake — they must be installed on the build machine and are located via find_package.

Vulkan SDK / loader

  • Locator: find_package(Vulkan REQUIRED)
  • Required by: viz/core/ when BUILD_VIZ=ON (also examples/camera_streamer).
  • Linux: apt-get install libvulkan-dev (provides headers + libvulkan.so.1).
  • Windows: install the LunarG Vulkan SDK and ensure VULKAN_SDK env var is set. CI uses humbletim/install-vulkan-sdk@v1.2.
  • Min version: 1.2 (Televiz checks VK_API_VERSION_1_2 at device select time).
  • License: Apache 2.0 (loader); per-vendor for ICD drivers.

CUDA Toolkit (optional, used by examples)

  • Locator: find_package(CUDAToolkit REQUIRED)
  • Required by: examples/camera_streamer/ only today; viz adds CUDA dependency once CUDA-Vulkan interop lands; CI must have CUDA installed for GPU test runner to exercise these paths.
  • Min version: 12.0
  • License: NVIDIA EULA

Third-Party Dependencies

OpenXR SDK

  • Source: https://github.com/KhronosGroup/OpenXR-SDK.git
  • Version: 75c53b6e853dc12c7b3c771edc9c9c841b15faaa (release-1.1.53)
  • Purpose: OpenXR loader and headers for XR runtime interaction
  • Build: Static library to avoid runtime dependencies
  • License: Apache 2.0

yaml-cpp

  • Source: https://github.com/jbeder/yaml-cpp.git
  • Version: f7320141120f720aecc4c32be25586e7da9eb978 (0.8.0)
  • Purpose: YAML parsing for plugin configuration files
  • Build: Static library to avoid runtime dependencies
  • License: MIT

pybind11

  • Source: https://github.com/pybind/pybind11.git
  • Version: a2e59f0e7065404b44dfe92a28aca47ba1378dc4 (v2.11.0-182)
  • Purpose: C++/Python bindings for Isaac Teleop Python API
  • Build: Header-only library
  • License: BSD-style

GLM

  • Source: https://github.com/g-truc/glm.git
  • Version: 1.0.1
  • Purpose: Vulkan/GLSL math (vec, mat, quat, slerp / lookAt / perspective) used by the viz module for view & projection composition, pose math, and world/head/lazy-locked layer placement. Fetched only when BUILD_VIZ=ON.
  • Build: Header-only library
  • License: MIT

Adding New Dependencies

When adding new third-party dependencies:

To add a new third-party dependency:

  1. Update CMakeLists.txt in this directory to add a FetchContent declaration:

    FetchContent_Declare(
    <name>
    GIT_REPOSITORY <repository-url>
    GIT_TAG        <commit-sha-or-tag>
)
FetchContent_MakeAvailable(<name>)

  2. Document it in this README with purpose, license, version, and repository information

  3. If you need to preserve a specific version, use the full commit SHA in GIT_TAG

  4. Update the Build from Source doc with any new requirements