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

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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>

docs/source/api/lab/isaaclab.app.rst

@@ -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

@@ -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

@@ -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

@@ -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}")