VisionPro cannot display the image in real time

[formoree]

I changed the code based on IsaacGym in this project to IsaacSim. Everything looks normal from the simulation interface GUI, but when I map it to VisionPro, only one picture can be displayed, and the picture cannot change the perspective, so I would like to seek help from everyone. Here is my camera setting code:

class SceneCfg(InteractiveSceneCfg):
    terrain = TerrainImporterCfg(
        prim_path="/World/ground",
        terrain_type="plane",
        # collision_group=-1,
        # physics_material=sim_utils.RigidBodyMaterialCfg(static_friction=1.0, dynamic_friction=1.0, restitution=0.0),
        # debug_vis=False
    )
    
    robot = Wow_CFG.replace(prim_path="/World/envs/env_.*/Robot")
    
    
    # scene = AssetBaseCfg(
    #     prim_path="/World/envs/env_.*/table",
    #     spawn=sim_utils.UsdFileCfg(
    #         # usd_path=ROOT_PATH+"/assets/usd_material/table/white_big/instance.usda",
    #         usd_path=ROOT_PATH+"/assets/usd_material/moon_cake/scene.usd",
    #         scale=(0.001, 0.001, 0.001),
    #         # scale=(1, 1, 1),
    #         rigid_props=sim_utils.RigidBodyPropertiesCfg(
    #             kinematic_enabled=True,
    #             disable_gravity=False,
    #             # enable_gyroscopic_forces=True,
    #             solver_position_iteration_count=8,
    #             solver_velocity_iteration_count=1,
    #             max_depenetration_velocity=5.0,
    #             # sleep_threshold=0.005,
    #             # stabilization_threshold=0.0025
    #         )
    #     ),
    #     init_state=RigidObjectCfg.InitialStateCfg(pos=[0.474, 0, 0], rot=[1, 0, 0, 0])
    #     # init_state=RigidObjectCfg.InitialStateCfg(pos=[0, 0, 0.474], rot=[1, 0, 0, 0])
    # )
    table = AssetBaseCfg(
        prim_path = "/World/Objects/Table",
        spawn = sim_utils.UsdFileCfg(
            usd_path = f"{ISAAC_NUCLEUS_DIR}/Props/Mounts/SeattleLabTable/table_instanceable.usd",
            scale = (0.5, 0.5, 0.5)
            ),
        init_state=RigidObjectCfg.InitialStateCfg(pos=[0.5, 0, 0.5], rot=[1, 0, 0, 0])
    )

    cuboid = AssetBaseCfg(
        prim_path = "/World/Objects/Cuboid",
        spawn = sim_utils.CuboidCfg(
            size = (0.1,0.1,0.1),
            rigid_props=sim_utils.RigidBodyPropertiesCfg(),
            mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
            collision_props=sim_utils.CollisionPropertiesCfg(),
            visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0), metallic=0.2),
        ),
        init_state=RigidObjectCfg.InitialStateCfg(pos=[0.5, 0, 0.7], rot=[1, 0, 0, 0])
    )
    # camera_right = CameraCfg(
    #     height=720,
    #     width=1280,
    #     offset=CameraCfg.OffsetCfg(pos=(0.15, 0.04, 0.1), rot=(0.92388, 0.0, 0.38268, 0.0), convention='world'), # wxyz in isaacsim
    #     # offset=CameraCfg.OffsetCfg(pos=(0.15, -0.06, 0.1), rot=(0.92388, 0.0, 0.38268, 0.0), convention='world'), # wxyz in isaacsim
    #     prim_path='/World/envs/env_.*/Robot/neck_yaw_Link/CameraRight', 
    #     update_period=0.1,
    #     data_types=['rgb'],#,'depth'],
    #     spawn=sim_utils.PinholeCameraCfg(
    #         focal_length=1.5, focus_distance=10.0, horizontal_aperture=2, clipping_range=(0.05, 15)
    #     ),
    # )
    
    # camera_left = CameraCfg(
    #     height=720,
    #     width=1280,
    #     offset=CameraCfg.OffsetCfg(pos=(0.15, 0.16, 0.1), rot=(0.92388, 0.0, 0.38268, 0.0), convention='world'), # wxyz in isaacsim
    #     prim_path='/World/envs/env_.*/Robot/neck_yaw_Link/CameraLeft', 
    #     update_period=0.1,
    #     data_types=['rgb'],#,'depth'],
    #     spawn=sim_utils.PinholeCameraCfg(
    #         focal_length=1.5, focus_distance=10.0, horizontal_aperture=2, clipping_range=(0.05, 15)
    #     ),
    # )

    camera_right = TiledCameraCfg(
        prim_path='/World/envs/env_.*/Robot/neck_yaw_Link/CameraRight', 
        update_period=0.1,
        offset=TiledCameraCfg.OffsetCfg(pos=(0.15, 0.04, 0.1), rot=(0.92388, 0.0, 0.38268, 0.0), convention="world"),
        data_types=["rgb"],
        spawn=sim_utils.PinholeCameraCfg(
            focal_length=1.5, focus_distance=10.0, horizontal_aperture=2, clipping_range=(0.05, 15)
    #     ),
        ),
        width=1280,
        height=720,
    )

    camera_left = TiledCameraCfg(
        prim_path='/World/envs/env_.*/Robot/neck_yaw_Link/CameraLeft', 
        update_period=0.1,
        offset=TiledCameraCfg.OffsetCfg(pos=(0.15, 0.16, 0.1), rot=(0.92388, 0.0, 0.38268, 0.0), convention="world"),
        data_types=["rgb"],
        spawn=sim_utils.PinholeCameraCfg(
            focal_length=1.5, focus_distance=10.0, horizontal_aperture=2, clipping_range=(0.05, 15)
    #     ),
        ),
        width=1280,
        height=720,
    )

    light = AssetBaseCfg(
        prim_path="/World/light",
        spawn=sim_utils.DistantLightCfg(color=(0.75, 0.75, 0.75), intensity=3000.0),

    )

At first I thought the camera was fixed so the perspective couldn't be changed, but I compared it to the sample and found that there was no problem. The following is the code of OpenTeleVision class:

class OpenTeleVision:
    def __init__(self, img_shape, shm_name, queue, toggle_streaming, stream_mode="image", cert_file="./cert.pem", key_file="./key.pem"):
        # self.app=Vuer()
        self.logger = setup_logging()
        
        self.img_shape = (img_shape[0], 2*img_shape[1], 3)
        self.img_height, self.img_width = img_shape[:2]

        self.app = Vuer(host='0.0.0.0', cert=cert_file, key=key_file, queries=dict(grid=False))
        self.app.add_handler("HAND_MOVE")(self.on_hand_move)
        self.app.add_handler("CAMERA_MOVE")(self.on_cam_move)
        if stream_mode == "image":
            existing_shm = shared_memory.SharedMemory(name=shm_name)
            self.img_array = np.ndarray((self.img_shape[0], self.img_shape[1], 3), dtype=np.uint8, buffer=existing_shm.buf)
            self.app.spawn(start=False)(self.main_image)
        elif stream_mode == "webrtc":
            self.app.spawn(start=False)(self.main_webrtc)
        else:
            raise ValueError("stream_mode must be either 'webrtc' or 'image'")

        self.left_hand_shared = Array('d', 16, lock=True)
        self.right_hand_shared = Array('d', 16, lock=True)
        self.left_landmarks_shared = Array('d', 75, lock=True)
        self.right_landmarks_shared = Array('d', 75, lock=True)
        
        self.head_matrix_shared = Array('d', 16, lock=True)
        self.aspect_shared = Value('d', 1.0, lock=True)
        
        self.begin_move = Value('b', False, lock=True)
        
        if stream_mode == "webrtc":
            # webrtc server
            if Args.verbose:
                logging.basicConfig(level=logging.DEBUG)
            else:
                logging.basicConfig(level=logging.INFO)
            Args.img_shape = img_shape
            # Args.shm_name = shm_name
            Args.fps = 60

            ssl_context = ssl.SSLContext()
            ssl_context.load_cert_chain(cert_file, key_file)

            app = web.Application()
            cors = aiohttp_cors.setup(app, defaults={
                "*": aiohttp_cors.ResourceOptions(
                    allow_credentials=True,
                    expose_headers="*",
                    allow_headers="*",
                    allow_methods="*",
                )
            })
            rtc = RTC(img_shape, queue, toggle_streaming, 60)
            app.on_shutdown.append(on_shutdown)
            cors.add(app.router.add_get("/", index))
            cors.add(app.router.add_get("/client.js", javascript))
            cors.add(app.router.add_post("/offer", rtc.offer))

            self.webrtc_process = Process(target=web.run_app, args=(app,), kwargs={"host": "0.0.0.0", "port": 8080, "ssl_context": ssl_context})
            self.webrtc_process.daemon = True
            self.webrtc_process.start()
            # web.run_app(app, host="0.0.0.0", port=8080, ssl_context=ssl_context)

        self.process = Process(target=self.run)
        self.process.daemon = True
        self.process.start()