Fixes pillow dependency version and binary installation instructions (#213)

# Description

This change includes several small updates for Isaac Sim 4.5:

- set rtx.viewTile.limit in render app files to avoid silent trimming of
the number of tiles. the default limit is set to be around 1000, which
may be too low in most cases
- updates documentation for livestream clients. WebRTC now requires a
client app and the omniverse streaming client is deprecated
- updates installation instructions for installing isaac sim from
binaries - Isaac Sim can now be downloaded as a zip file from a download
link instead of through Omniverse launcher
- fixes pillow version to be the same as Isaac Sim to avoid the package
getting uninstalled and reinstalled to the wrong version

## 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)
- New feature (non-breaking change which adds functionality)
- 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
- [ ] 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
-->

apps/isaaclab.python.headless.rendering.kit

@@ -69,6 +69,8 @@ rtx.post.dlss.execMode = 2 # can be 0 (Performance), 1 (Balanced), 2 (Quality),
 
 # Avoids replicator warning
 rtx.pathtracing.maxSamplesPerLaunch = 1000000
+# Avoids silent trimming of tiles
+rtx.viewTile.limit = 1000000
 
 # Disable present thread to improve performance
 exts."omni.renderer.core".present.enabled=false

apps/isaaclab.python.rendering.kit

@@ -70,6 +70,8 @@ rtx.post.dlss.execMode = 2 # can be 0 (Performance), 1 (Balanced), 2 (Quality),
 
 # Avoids replicator warning
 rtx.pathtracing.maxSamplesPerLaunch = 1000000
+# Avoids silent trimming of tiles
+rtx.viewTile.limit = 1000000
 
 # Disable present thread to improve performance
 exts."omni.renderer.core".present.enabled=false

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

@@ -23,10 +23,11 @@ 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`` enables streaming via the Isaac `Native Livestream`_ extension. This allows users to
-    connect through the Omniverse Streaming Client.
-  * ``LIVESTREAM=2`` enables streaming  via the `WebRTC Livestream`_ extension. This allows users to
-    connect in a browser using the WebRTC protocol.
+  * ``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
+    connect through the WebRTC Client using the WebRTC protocol.
 
   .. note::
 
@@ -110,6 +111,5 @@ Simulation App Launcher
 
 
 .. _livestream: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_livestream_clients.html
-.. _`Native Livestream`: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_livestream_clients.html#isaac-sim-setup-kit-remote
-.. _`Websocket Livestream`: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_livestream_clients.html#isaac-sim-setup-livestream-webrtc
-.. _`WebRTC Livestream`: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_livestream_clients.html#isaac-sim-setup-livestream-websocket
+.. _`Native Livestream`: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/manual_livestream_clients.html#omniverse-streaming-client
+.. _`WebRTC Livestream`: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/manual_livestream_clients.html#webrtc-browser-client

docs/source/setup/installation/binaries_installation.rst

@@ -19,8 +19,11 @@ To check the minimum system requirements,refer to the documentation
 `here <https://docs.omniverse.nvidia.com/isaacsim/latest/installation/requirements.html>`__.
 
 .. note::
-   We have tested Isaac Lab with Isaac Sim 4.1 release on Ubuntu
-   20.04LTS with NVIDIA driver 525.147.
+   We have tested Isaac Lab with Isaac Sim 4.5 release on Ubuntu
+   22.04LTS with NVIDIA driver 535.129.
+
+   From Isaac Sim 4.5 release, Isaac Sim binaries can be downloaded directly as a zip file.
+   The below steps assume the Isaac Sim folder was unzipped to the Downloads directory.
 
    .. tab-set::
       :sync-group: os
@@ -28,14 +31,14 @@ To check the minimum system requirements,refer to the documentation
       .. tab-item:: :icon:`fa-brands fa-linux` Linux
          :sync: linux
 
-         On Linux systems, by default, Isaac Sim is installed in the directory
-         ``${HOME}/.local/share/ov/pkg/isaac_sim-*``, with ``*`` corresponding to the Isaac Sim version.
+         On Linux systems, Isaac Sim directory will be named
+         ``${HOME}/Downloads/isaac-sim-standalone@*``, with ``*`` corresponding to the Isaac Sim version.
 
       .. tab-item:: :icon:`fa-brands fa-windows` Windows
          :sync: windows
 
-         On Windows systems, by default,Isaac Sim is installed in the directory
-         ``%USERPROFILE%\AppData\Local\ov\pkg\isaac_sim-*``, with ``*`` corresponding to the Isaac Sim version.
+         On Windows systems, Isaac Sim directory will be named
+         ``%USERPROFILE%/Downloads/isaac-sim-standalone@*``, with ``*`` corresponding to the Isaac Sim version.
 
 Verifying the Isaac Sim installation
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -53,7 +56,7 @@ variables to your terminal for the remaining of the installation instructions:
       .. code:: bash
 
          # Isaac Sim root directory
-         export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac-sim-4.2.0"
+         export ISAACSIM_PATH="${HOME}/Downloads/isaac-sim-standalone@4.5.0"
          # Isaac Sim python executable
          export ISAACSIM_PYTHON_EXE="${ISAACSIM_PATH}/python.sh"
 
@@ -63,7 +66,7 @@ variables to your terminal for the remaining of the installation instructions:
       .. code:: batch
 
          :: Isaac Sim root directory
-         set ISAACSIM_PATH="%USERPROFILE%\AppData\Local\ov\pkg\isaac-sim-4.2.0"
+         set ISAACSIM_PATH="%USERPROFILE%/Downloads/isaac-sim-standalone@4.5.0"
          :: Isaac Sim python executable
          set ISAACSIM_PYTHON_EXE="%ISAACSIM_PATH:"=%\python.bat"
 
@@ -246,7 +249,7 @@ to index the python modules and look for extensions shipped with Isaac Sim.
          cd IsaacLab
          # create a symbolic link
          ln -s path_to_isaac_sim _isaac_sim
-         # For example: ln -s /home/nvidia/.local/share/ov/pkg/isaac-sim-4.2.0 _isaac_sim
+         # For example: ln -s ${HOME}/Downloads/isaac-sim-standalone@4.5.0 _isaac_sim
 
    .. tab-item:: :icon:`fa-brands fa-windows` Windows
       :sync: windows
@@ -257,7 +260,7 @@ to index the python modules and look for extensions shipped with Isaac Sim.
          cd IsaacLab
          :: create a symbolic link - requires launching Command Prompt with Administrator access
          mklink /D _isaac_sim path_to_isaac_sim
-         :: For example: mklink /D _isaac_sim C:/Users/nvidia/AppData/Local/ov/pkg/isaac-sim-4.2.0
+         :: For example: mklink /D _isaac_sim C:/Users/nvidia/Downloads/isaac-sim-standalone@4.5.0
 
 
 Setting up the conda environment (optional)

docs/source/setup/installation/pip_installation.rst

@@ -109,9 +109,7 @@ Verifying the Isaac Sim installation
       # note: you can pass the argument "--help" to see all arguments possible.
       isaacsim
 
-   By default, this will launch an empty mini Kit window.
-
--  To run with a specific experience file, run:
+-  It's also possible to run with a specific experience file, run:
 
    .. code:: bash
 

scripts/reinforcement_learning/sb3/play.py

@@ -50,6 +50,7 @@ import numpy as np
 import os
 import torch
 
+from isaaclab_rl.sb3 import Sb3VecEnvWrapper, process_sb3_cfg
 from stable_baselines3 import PPO
 from stable_baselines3.common.vec_env import VecNormalize
 
@@ -59,7 +60,6 @@ from isaaclab.utils.pretrained_checkpoint import get_published_pretrained_checkp
 
 import isaaclab_tasks  # noqa: F401
 from isaaclab_tasks.utils.parse_cfg import get_checkpoint_path, load_cfg_from_registry, parse_env_cfg
-from isaaclab_tasks.utils.wrappers.sb3 import Sb3VecEnvWrapper, process_sb3_cfg
 
 
 def main():

source/isaaclab/isaaclab/app/app_launcher.py

@@ -596,11 +596,7 @@ class AppLauncher:
                 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",
+                    "omni.kit.livestream.webrtc",
                 ]
             else:
                 raise ValueError(f"Invalid value for livestream: {self._livestream}. Expected: 1, 2 .")

source/isaaclab/setup.py

@@ -34,6 +34,8 @@ INSTALL_REQUIRES = [
     "transformers",
     "einops",  # needed for transformers, doesn't always auto-install
     "warp-lang",
+    # make sure this is consistent with isaac sim version
+    "pillow==11.0.0",
 ]
 
 PYTORCH_INDEX_URL = ["https://download.pytorch.org/whl/cu118"]

source/isaaclab_rl/setup.py

@@ -33,6 +33,8 @@ INSTALL_REQUIRES = [
     "tensorboard",
     # video recording
     "moviepy",
+    # make sure this is consistent with isaac sim version
+    "pillow==11.0.0",
 ]
 
 PYTORCH_INDEX_URL = ["https://download.pytorch.org/whl/cu118"]