Skip to content

K
KincoActuatorIsaacLab
Commit 25200735 authored by Kelly Guo's avatar Kelly Guo Committed by Kelly Guo
Browse files
Options

Updates livestream options for Isaac Sim 5.0 (#441) 

Native livestreaming was previous deprecated and has now been removed.
We kept the 2 livestream options, now both using WebRTC livestreaming

LIVESTREAM=1 can now be used for WebRTC streaming over a public network
LIVESTREAM=2 can be used for WebRTC streaming over a local or private
network.

- New feature (non-breaking change which adds functionality)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

- [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
- [ ] 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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

---------
Signed-off-by: 's avatarKelly Guo <kellyg@nvidia.com>
parent 9139ec44
Hide whitespace changes
Inline Side-by-side
Showing with 38 additions and 64 deletions
docs/source/api/lab/isaaclab.app.rst
View file @ 25200735
......@@ -23,10 +23,9 @@ The following details the behavior of the class based on the environment variabl
* **Livestreaming**: If the environment variable ``LIVESTREAM={1,2}`` , then `livestream`_ is enabled. Any
of the livestream modes being true forces the app to run in headless mode.
* ``LIVESTREAM=1`` [DEPRECATED] enables streaming via the Isaac `Native Livestream`_ extension. This allows users to
connect through the Omniverse Streaming Client. This method is deprecated from Isaac Sim 4.5. Please use the WebRTC
livestreaming instead.
* ``LIVESTREAM=2`` enables streaming via the `WebRTC Livestream`_ extension. This allows users to
* ``LIVESTREAM=1`` enables streaming via the `WebRTC Livestream`_ extension over **public networks**. This allows users to
connect through the WebRTC Client using the WebRTC protocol.
* ``LIVESTREAM=2`` enables streaming via the `WebRTC Livestream`_ extension over **private and local networks**. This allows users to
connect through the WebRTC Client using the WebRTC protocol.
.. note::
......@@ -55,16 +54,16 @@ To set the environment variables, one can use the following command in the termi
.. code:: bash
export REMOTE_DEPLOYMENT=3
export LIVESTREAM=2
export ENABLE_CAMERAS=1
# run the python script
./isaaclab.sh -p scripts/demo/play_quadrupeds.py
./isaaclab.sh -p scripts/demos/quadrupeds.py
Alternatively, one can set the environment variables to the python script directly:
.. code:: bash
REMOTE_DEPLOYMENT=3 ENABLE_CAMERAS=1 ./isaaclab.sh -p scripts/demo/play_quadrupeds.py
LIVESTREAM=2 ENABLE_CAMERAS=1 ./isaaclab.sh -p scripts/demos/quadrupeds.py
Overriding the environment variables
......@@ -113,5 +112,4 @@ Simulation App Launcher
.. _livestream: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_livestream_clients.html
.. _`Native Livestream`: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/manual_livestream_clients.html#omniverse-streaming-client-deprecated
.. _`WebRTC Livestream`: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/manual_livestream_clients.html#isaac-sim-short-webrtc-streaming-client
docs/source/refs/release_notes.rst
View file @ 25200735
......@@ -11,6 +11,8 @@ Breaking Changes
----------------
* :attr:`~isaaclab.sim.spawners.PhysicsMaterialCfg.improve_patch_friction` is now removed. The simulation will always behave as if this attribute is set to true.
* Native Livestreaming support has been removed. ``LIVESTREAM=1`` can now be used for WebRTC streaming over public networks and
``LIVESTREAM=2`` for private and local networks with WebRTC streaming.
v2.1.0
======
......
source/isaaclab/docs/CHANGELOG.rst
View file @ 25200735
......@@ -281,7 +281,7 @@ Changed
:meth:`~isaaclab.utils.math.quat_apply` and :meth:`~isaaclab.utils.math.quat_apply_inverse` for speed.
0.40.10 (2025-05-19)
0.40.11 (2025-05-19)
~~~~~~~~~~~~~~~~~~~~
Fixed
......@@ -291,8 +291,8 @@ Fixed
of assets and sensors.used from the experience files and the double definition is removed.
0.40.9 (2025-01-30)
~~~~~~~~~~~~~~~~~~~
0.40.10 (2025-01-30)
~~~~~~~~~~~~~~~~~~~~
Added
^^^^^
......@@ -301,7 +301,7 @@ Added
in the simulation.
0.40.8 (2025-05-16)
0.40.9 (2025-05-16)
~~~~~~~~~~~~~~~~~~~
Added
......@@ -316,7 +316,7 @@ Changed
resampling call.
0.40.7 (2025-05-16)
0.40.8 (2025-05-16)
~~~~~~~~~~~~~~~~~~~
Fixed
......@@ -325,7 +325,7 @@ Fixed
* Fixed penetration issue for negative border height in :class:`~isaaclab.terrains.terrain_generator.TerrainGeneratorCfg`.
0.40.6 (2025-05-20)
0.40.7 (2025-05-20)
~~~~~~~~~~~~~~~~~~~
Changed
......@@ -340,7 +340,7 @@ Added
* Added :meth:`~isaaclab.utils.math.rigid_body_twist_transform`
0.40.5 (2025-05-15)
0.40.6 (2025-05-15)
~~~~~~~~~~~~~~~~~~~
Fixed
......@@ -354,14 +354,23 @@ Fixed
unused USD camera parameters.
0.40.4 (2025-05-14)
0.40.5 (2025-05-14)
~~~~~~~~~~~~~~~~~~~
* Added a new attribute :attr:`articulation_root_prim_path` to the :class:`~isaaclab.assets.ArticulationCfg` class
to allow explicitly specifying the prim path of the articulation root.
0.40.3 (2025-05-14)
0.40.4 (2025-05-14)
~~~~~~~~~~~~~~~~~~~
Changed
^^^^^^^
* Changed livestreaming options to use ``LIVESTREAM=1`` for WebRTC over public networks and ``LIVESTREAM=2`` for WebRTC over private networks.
0.40.3 (2025-05-20)
~~~~~~~~~~~~~~~~~~~
Changed
......
source/isaaclab/isaaclab/app/app_launcher.py
View file @ 25200735
......@@ -19,7 +19,6 @@ import re
import signal
import sys
import toml
import warnings
from typing import Any, Literal
import flatdict
......@@ -112,7 +111,7 @@ class AppLauncher:
# Define config members that are read from env-vars or keyword args
self._headless: bool # 0: GUI, 1: Headless
self._livestream: Literal[0, 1, 2] # 0: Disabled, 1: Native, 2: WebRTC
self._livestream: Literal[0, 1, 2] # 0: Disabled, 1: WebRTC public, 2: WebRTC private
self._offscreen_render: bool # 0: Disabled, 1: Enabled
self._sim_experience_file: str # Experience file to load
......@@ -196,8 +195,8 @@ class AppLauncher:
Valid options are:
- ``0``: Disabled
- ``1``: `Native [DEPRECATED] <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/manual_livestream_clients.html#omniverse-streaming-client-deprecated>`_
- ``2``: `WebRTC <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/manual_livestream_clients.html#isaac-sim-short-webrtc-streaming-client>`_
- ``1``: `WebRTC <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/manual_livestream_clients.html#isaac-sim-short-webrtc-streaming-client>`_ over public network
- ``2``: `WebRTC <https://docs.isaacsim.omniverse.nvidia.com/latest/installation/manual_livestream_clients.html#isaac-sim-short-webrtc-streaming-client>`_ over local/private network
* ``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.
......@@ -501,29 +500,26 @@ class AppLauncher:
else:
self._livestream = livestream_env
# Set public IP address of a remote instance
public_ip_env = os.environ.get("PUBLIC_IP", "127.0.0.1")
# Process livestream here before launching kit because some of the extensions only work when launched with the kit file
self._livestream_args = []
if self._livestream >= 1:
# 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."
)
# WebRTC public network
self._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",
f"--/app/livestream/publicEndpointAddress={public_ip_env}",
"--/app/livestream/port=49100",
"--enable",
"omni.kit.streamsdk.plugins-4.1.1",
"omni.services.livestream.nvcf",
]
elif self._livestream == 2:
# WebRTC private network
self._livestream_args += [
"--/app/livestream/allowResize=false",
"--enable",
"omni.kit.livestream.webrtc",
"omni.services.livestream.nvcf",
]
else:
raise ValueError(f"Invalid value for livestream: {self._livestream}. Expected: 1, 2 .")
......@@ -718,37 +714,6 @@ class AppLauncher:
" The file does not exist."
)
# Set public IP address of a remote instance
public_ip_env = os.environ.get("PUBLIC_IP", "127.0.0.1")
# Process livestream here before launching kit because some of the extensions only work when launched with the kit file
self._livestream_args = []
if self._livestream >= 1:
# 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."
)
self._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:
self._livestream_args += [
f"--/app/livestream/publicEndpointAddress={public_ip_env}",
"--/app/livestream/port=49100",
"--enable",
"omni.services.livestream.nvcf",
]
else:
raise ValueError(f"Invalid value for livestream: {self._livestream}. Expected: 1, 2 .")
sys.argv += self._livestream_args
# Resolve the absolute path of the experience file
self._sim_experience_file = os.path.abspath(self._sim_experience_file)
print(f"[INFO][AppLauncher]: Loading experience file: {self._sim_experience_file}")
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment