Cleans up app file and updates livestream options (#186)

# Description

This PR cleans up settings applied in the app files and aligns them with
settings in Isaac Sim 4.5. In addition, new livestream versions and
documentation are updated to reflected changes in Isaac Sim 4.5.

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Bug fix (non-breaking change which fixes an issue)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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putting an x character in it

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- [x] I have done this task
- [ ] I have not done this task
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docs/source/deployment/docker.rst

@@ -280,23 +280,6 @@ The container defaults to ``FastRTPS``, but ``CylconeDDS`` is also supported. Ea
       :language: bash
 
 
-Known Issues
-------------
-
-WebRTC Streaming
-~~~~~~~~~~~~~~~~
-
-When streaming the GUI from Isaac Sim, there are `several streaming clients`_ available. There is a `known issue`_ when
-attempting to use WebRTC streaming client on Google Chrome and Safari while running Isaac Sim inside a container.
-To avoid this problem, we suggest using the Native Streaming Client or using the
-Mozilla Firefox browser on which WebRTC works.
-
-Streaming is the only supported method for visualizing the Isaac GUI from within the container. The Omniverse Streaming Client
-is freely available from the Omniverse app, and is easy to use. The other streaming methods similarly require only a web browser.
-If users want to use X11 forwarding in order to have the apps behave as local GUI windows, they can uncomment the relevant portions
-in docker-compose.yaml.
-
-
 .. _`NVIDIA Omniverse EULA`: https://docs.omniverse.nvidia.com/platform/latest/common/NVIDIA_Omniverse_License_Agreement.html
 .. _`container installation`: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html
 .. _`Docker website`: https://docs.docker.com/desktop/install/linux-install/

docs/source/tutorials/00_sim/launch_app.rst

@@ -136,11 +136,11 @@ We will now run the example script:
 
 .. code-block:: console
 
-   LIVESTREAM=1 ./isaaclab.sh -p source/standalone/tutorials/00_sim/launch_app.py --size 0.5
+   LIVESTREAM=2 ./isaaclab.sh -p source/standalone/tutorials/00_sim/launch_app.py --size 0.5
 
 This will spawn a 0.5m\ :sup:`3` volume cuboid in the simulation. No GUI will appear, equivalent
 to if we had passed the ``--headless`` flag because headlessness is implied by our ``LIVESTREAM``
-envar. If a visualization is desired, we could get one via Isaac's `Native Livestreaming`_. Streaming
+envar. If a visualization is desired, we could get one via Isaac's `WebRTC Livestreaming`_. Streaming
 is currently the only supported method of visualization from within the container. The
 process can be killed by pressing ``Ctrl+C`` in the launching terminal.
 
@@ -153,7 +153,7 @@ Now, let's look at how :class:`~app.AppLauncher` handles conflicting commands:
 
 .. code-block:: console
 
-   LIVESTREAM=0 ./isaaclab.sh -p source/standalone/tutorials/00_sim/launch_app.py --size 0.5 --livestream 1
+   LIVESTREAM=0 ./isaaclab.sh -p source/standalone/tutorials/00_sim/launch_app.py --size 0.5 --livestream 2
 
 This will cause the same behavior as in the previous run, because although we have set ``LIVESTREAM=0``
 in our envars, CLI args such as ``--livestream`` take precedence in determining behavior. The process can
@@ -164,7 +164,7 @@ Finally, we will examine passing arguments to :class:`~isaacsim.simulation_app.S
 
 .. code-block:: console
 
-   LIVESTREAM=1 ./isaaclab.sh -p source/standalone/tutorials/00_sim/launch_app.py --size 0.5 --width 1920 --height 1080
+   LIVESTREAM=2 ./isaaclab.sh -p source/standalone/tutorials/00_sim/launch_app.py --size 0.5 --width 1920 --height 1080
 
 This will cause the same behavior as before, but now the viewport will be rendered at 1920x1080p resolution.
 This can be useful when we want to gather high-resolution video, or we can specify a lower resolution if we
@@ -173,4 +173,4 @@ terminal.
 
 
 .. _specification: https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/isaacsim.simulation_app/docs/index.html#isaacsim.simulation_app.SimulationApp.DEFAULT_LAUNCHER_CONFIG
-.. _Native Livestreaming: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/manual_livestream_clients.html#omniverse-streaming-client
+.. _WebRTC Livestreaming: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/manual_livestream_clients.html#isaac-sim-short-webrtc-streaming-client

source/apps/isaaclab.python.headless.kit

@@ -30,17 +30,12 @@ app.version = "4.5.0"
 
 
 [settings]
-renderer.active = "rtx"
-
 app.content.emptyStageOnStart = false
 
 # Disable print outs on extension startup information
 # this only disables the app print_and_log function
 app.enableStdoutOutput = false
 
-# Setting the port for the embedded http server
-exts."omni.services.transport.server.http".port = 8211
-
 # default viewport is fill
 app.runLoops.rendering_0.fillResolution = false
 exts."omni.kit.window.viewport".blockingGetViewportDrawable = false
@@ -56,32 +51,6 @@ persistent = true
 dev_build = false
 fabricDefaultStageFrameHistoryCount = 3 # needed for omni.syntheticdata TODO105 still true?
 
-[settings.app.window]
-title = "Isaac Sim"
-hideUi = false
-_iconSize = 256
-iconPath = "${omni.isaac.app.setup}/data/omni.isaac.sim.png"
-
-# width = 1700
-# height = 900
-# x = -1
-# y = -1
-
-# Fonts
-[setting.app.font]
-file = "${fonts}/OpenSans-SemiBold.ttf"
-size = 16
-
-# [setting.app.runLoops]
-# main.rateLimitEnabled = false
-# main.rateLimitFrequency = 60
-# main.rateLimitUseBusyLoop = false
-# rendering_0.rateLimitEnabled = false
-
-[settings.exts.'omni.kit.window.extensions']
-# List extensions here we want to show as featured when extension manager is opened
-featuredExts = []
-
 [settings.app.python]
 # These disable the kit app from also printing out python output, which gets confusing
 interceptSysStdOutput = false
@@ -113,12 +82,6 @@ app.vulkan = true
 exts."omni.kit.window.extensions".hideNonToggleableExts = true
 exts."omni.kit.window.extensions".showFeatureOnly = false
 
-# Hang Detector
-################################
-# app.hangDetector.enabled = false
-# app.hangDetector.timeout = 120
-
-
 # set the default ros bridge to disable on startup
 isaac.startup.ros_bridge_extension = ""
 
@@ -126,7 +89,7 @@ isaac.startup.ros_bridge_extension = ""
 ###############################
 [settings.exts."omni.kit.registry.nucleus"]
 registries = [
-    { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/shared" },
+    { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/106/shared" },
     { name = "kit/sdk", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/${kit_version_short}/${kit_git_hash}" },
     { name = "kit/community", url = "https://dw290v42wisod.cloudfront.net/exts/kit/community" },
 ]
@@ -135,51 +98,9 @@ registries = [
 skipPublishVerification = false
 registryEnabled = true
 
-[settings.exts."omni.kit.window.modifier.titlebar"]
-titleFormatString = "  Isaac Sim  {version:${app}/../SHORT_VERSION,font_color=0x909090,font_size=16} {separator} {file, board=true}"
-showFileFullPath = true
-icon.file = "${app}/../exts/omni.isaac.app.setup/data/nvidia-omniverse-isaacsim.ico"
-icon.size = 256
-defaultFont.name = "Arial"
-defaultFont.size = 16
-defaultFont.color = 0xD0D0D0
-separator.color = 0x00B976
-separator.width = 1
-windowBorder.color = 0x0F0F0F
-windowBorder.width = 2
-colors.caption = 0x0F0F0F
-colors.client = 0x0F0F0F
-respondOnMouseUp = true
-changeWindowRegion = true
-
 [settings.crashreporter.data]
 experience = "Isaac Sim"
 
-# Isaac Sim Settings
-###############################
-[settings.app.renderer]
-skipWhileMinimized = false
-sleepMsOnFocus = 0
-sleepMsOutOfFocus = 0
-resolution.width=1280
-resolution.height=720
-
-# default camera position in meters
-[settings.app.viewport]
-defaultCamPos.x = 5
-defaultCamPos.y = 5
-defaultCamPos.z = 5
-
-[settings.rtx]
-raytracing.fractionalCutoutOpacity = false
-hydra.enableSemanticSchema = true
-mdltranslator.mdlDistilling = false
-# descriptorSets=60000
-# reservedDescriptors=500000
-# sceneDb.maxInstances=1000000
-# Enable this for static scenes, improves visual quality
-# directLighting.sampledLighting.enabled = true
-
 [settings.persistent]
 app.file.recentFiles = []
 app.stage.upAxis = "Z"

source/apps/isaaclab.python.headless.rendering.kit

@@ -94,7 +94,7 @@ exts."omni.replicator.core".Orchestrator.enabled = false
 
 [settings.exts."omni.kit.registry.nucleus"]
 registries = [
-    { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/shared" },
+    { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/106/shared" },
     { name = "kit/sdk", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/${kit_version_short}/${kit_git_hash}" },
     { name = "kit/community", url = "https://dw290v42wisod.cloudfront.net/exts/kit/community" },
 ]

source/apps/isaaclab.python.rendering.kit

@@ -105,7 +105,7 @@ fabricUpdateJointStates = false
 
 [settings.exts."omni.kit.registry.nucleus"]
 registries = [
-    { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/shared" },
+    { name = "kit/default", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/106/shared" },
     { name = "kit/sdk", url = "https://ovextensionsprod.blob.core.windows.net/exts/kit/prod/sdk/${kit_version_short}/${kit_git_hash}" },
     { name = "kit/community", url = "https://dw290v42wisod.cloudfront.net/exts/kit/community" },
 ]

source/extensions/omni.isaac.lab/omni/isaac/lab/app/app_launcher.py

@@ -18,6 +18,7 @@ import os
 import re
 import signal
 import sys
+import warnings
 from typing import Any, Literal
 
 with contextlib.suppress(ModuleNotFoundError):
@@ -161,8 +162,8 @@ class AppLauncher:
           Valid options are:
 
           - ``0``: Disabled
-          - ``1``: `Native <https://docs.omniverse.nvidia.com/extensions/latest/ext_livestream/native.html>`_
-          - ``2``: `WebRTC <https://docs.omniverse.nvidia.com/extensions/latest/ext_livestream/webrtc.html>`_
+          - ``1``: `Native [DEPRECATED] <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/manual_livestream_clients.html#omniverse-streaming-client-deprecated>`_
+          - ``2``: `WebRTC <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/manual_livestream_clients.html#isaac-sim-short-webrtc-streaming-client>`_
 
         * ``enable_cameras`` (bool): If True, the app will enable camera sensors and render them, even when in
           headless mode. This flag must be set to True if the environments contains any camera sensors.
@@ -527,7 +528,7 @@ class AppLauncher:
             os.environ["PXR_WORK_THREAD_LIMIT"] = str(num_threads_per_process)
             os.environ["OPENBLAS_NUM_THREADS"] = str(num_threads_per_process)
             # pass command line variable to kit
-            sys.argv.append(f"--/plugins/carb.tasking.plugin/threadCount={num_threads_per_process}")
+            self._kit_args.append(f"--/plugins/carb.tasking.plugin/threadCount={num_threads_per_process}")
 
         # set physics and rendering device
         launcher_args["physics_gpu"] = self.device_id
@@ -573,6 +574,38 @@ class AppLauncher:
                 " The file does not exist."
             )
 
+        # Process livestream here before launching kit because some of the extensions only work when launched with the kit file
+        if self._livestream >= 1:
+            livestream_args = []
+            # Note: Only one livestream extension can be enabled at a time
+            if self._livestream == 1:
+                warnings.warn(
+                    "Native Livestream is deprecated. Please use WebRTC Livestream instead with --livestream 2."
+                )
+                livestream_args += [
+                    '--/app/livestream/proto="ws"',
+                    "--/app/livestream/allowResize=true",
+                    "--enable",
+                    "omni.kit.livestream.core-4.1.2",
+                    "--enable",
+                    "omni.kit.livestream.native-5.0.1",
+                    "--enable",
+                    "omni.kit.streamsdk.plugins-4.1.1",
+                ]
+            elif self._livestream == 2:
+                livestream_args += [
+                    "--/app/livestream/allowResize=false",
+                    "--enable",
+                    "omni.kit.livestream.core-6.1.0",
+                    "--enable",
+                    "omni.kit.livestream.webrtc-6.0.0",
+                    "--enable",
+                    "omni.kit.streamsdk.plugins-6.1.7",
+                ]
+            else:
+                raise ValueError(f"Invalid value for livestream: {self._livestream}. Expected: 1, 2 .")
+            sys.argv += livestream_args
+
         # Resolve additional arguments passed to Kit
         self._kit_args = []
         if "kit_args" in launcher_args:
@@ -631,37 +664,10 @@ class AppLauncher:
         # These have to be loaded after SimulationApp is initialized
         import carb
         import omni.physx.bindings._physx as physx_impl
-        from isaacsim.core.utils.extensions import enable_extension
 
         # Retrieve carb settings for modification
         carb_settings_iface = carb.settings.get_settings()
 
-        if self._livestream >= 1:
-            # Ensure that a viewport exists in case an experience has been
-            # loaded which does not load it by default
-            enable_extension("omni.kit.viewport.window")
-            # Set carb settings to allow for livestreaming
-            carb_settings_iface.set_bool("/app/livestream/enabled", True)
-            carb_settings_iface.set_bool("/app/window/drawMouse", True)
-            carb_settings_iface.set_bool("/ngx/enabled", False)
-            carb_settings_iface.set_string("/app/livestream/proto", "ws")
-            carb_settings_iface.set_int("/app/livestream/websocket/framerate_limit", 120)
-            # Note: Only one livestream extension can be enabled at a time
-            if self._livestream == 1:
-                # Enable Native Livestream extension
-                # Default App: Streaming Client from the Omniverse Launcher
-                enable_extension("omni.kit.streamsdk.plugins-3.2.1")
-                enable_extension("omni.kit.livestream.core-3.2.0")
-                enable_extension("omni.kit.livestream.native-4.1.0")
-            elif self._livestream == 2:
-                # Enable WebRTC Livestream extension
-                # Default URL: http://localhost:8211/streaming/webrtc-client/
-                enable_extension("omni.services.streamclient.webrtc")
-            else:
-                raise ValueError(f"Invalid value for livestream: {self._livestream}. Expected: 1, 2 .")
-        else:
-            carb_settings_iface.set_bool("/app/livestream/enabled", False)
-
         # set carb setting to indicate Isaac Lab's offscreen_render pipeline should be enabled
         # this flag is used by the SimulationContext class to enable the offscreen_render pipeline
         # when the render() method is called.