Adds WebRTC livestreaming support with IP specification (#1967)

# Description

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Currently, the WebRTC livestream is limited to connections within the
same local network. This change introduces the ability to set a public
IP address as an environment variable to allow connecting over the
Internet and allows for livestreaming remotely when using the pre-built
Isaac Lab container.

Note:
This may not fix the livestreaming issue when using pip or native
install of Isaac Lab, as it requires an updated version of the
livestream extension, which is only available through the docker image
at the moment. This will be fully fixed in the next version of Isaac
Sim.

Example: 

Run with `PUBLIC_IP=$(curl -s ifconfig.me) LIVESTREAM=2 ./isaaclab.sh -p
scripts/demos/quadrupeds.py` then connect using the [Isaac Sim WebRTC
Streaming
Client](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/manual_livestream_clients.html#isaac-sim-short-webrtc-streaming-client).

`PUBLIC_IP` can also be set to a private IP address if connecting within
the same local network.

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## Type of change

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

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## 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
- [x] 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
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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---------
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

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

@@ -35,6 +35,8 @@ The following details the behavior of the class based on the environment variabl
     Connecting to an Isaac Sim instance that is currently serving a streaming client
     results in an error for the second user.
 
+* **Public IP Address**: When using the environment variable ``LIVESTREAM={1,2}``, set the ``PUBLIC_IP`` envvar to define the public IP address endpoint for livestreaming remotely.
+
 * **Enable cameras**: If the environment variable ``ENABLE_CAMERAS`` is set to 1, then the
   cameras are enabled. This is useful for running the simulator without a GUI but still rendering the
   viewport and camera images.

source/isaaclab/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.34.1"
+version = "0.34.3"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.34.3 (2025-02-28)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added IP address support for WebRTC livestream to allow specifying IP address to stream across networks.
+  This feature requires an updated livestream extension, which is current only available in the pre-built Isaac Lab 2.0.1 docker image.
+  Support for other Isaac Sim builds will become available in Isaac Sim 5.0.
+
+
 0.34.2 (2025-02-21)
 ~~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/app/app_launcher.py

@@ -574,6 +574,9 @@ 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:
@@ -594,9 +597,10 @@ class AppLauncher:
                 ]
             elif self._livestream == 2:
                 self._livestream_args += [
-                    "--/app/livestream/allowResize=false",
+                    f"--/app/livestream/publicEndpointAddress={public_ip_env}",
+                    "--/app/livestream/port=49100",
                     "--enable",
-                    "omni.kit.livestream.webrtc",
+                    "omni.services.livestream.nvcf",
                 ]
             else:
                 raise ValueError(f"Invalid value for livestream: {self._livestream}. Expected: 1, 2 .")

source/isaaclab/setup.py

@@ -36,6 +36,8 @@ INSTALL_REQUIRES = [
     "warp-lang",
     # make sure this is consistent with isaac sim version
     "pillow==11.0.0",
+    # livestream
+    "starlette==0.46.0",
 ]
 
 PYTORCH_INDEX_URL = ["https://download.pytorch.org/whl/cu118"]