Launching Livestream for Isaac Sim (on A100)

Ways to Launch Livestream Isaac Sim from a Remote Server

There are 3 ways to stream images from a remote server:

Omniverse Streaming Client - the most stable and recommended, but not suitable for all models
WebRTC Browser Client
WebSocket Browser Client - partially removed in the 2023 version and will be completely removed in 2024

:::info If you opened this guide, most likely the main instruction on the Nvidia website did not help you, so here I will tell you what I managed to learn by trial and error :::

Minimal Graphics Card Requirements

:::warning GPU must support RTX technology (brief list of supported GPUs) :::

Highly Desirable Graphics Card Requirement

For streaming through Omniverse Streaming Client and WebRTC, GPU must support hardware video encoding and decoding - NVENC, you can familiarize yourself with the list of supported devices here

:::success If your card supports NVENC, you can safely start streaming through Omniverse Streaming Client instructions or through WebRTC Streaming Client instructions, just don't forget to open the necessary ports :::

Non-obvious Mini List of Server Card Support

Supported: T4, A10

Partially supported: A100

Not supported: V100, P100, H100

Tested on A100 and T4 myself

:::info Nvidia's hardware recommendations for Isaac Sim: link1, link2 :::

What to Do If NVENC Is Not Supported, But RTX Support Exists? (A100)

In this case, there is only one way out - to start streaming through Websocket using H.264 decoding standard

Make sure that the supported drivers for the GPU are installed, or install them yourself

You can find out the driver version using nvidia-smi

:::success Recommended drivers

Linux: 525.85.05, 525.85.12 (Grid/vGPU)

Windows: 528.24, 528.33 (Grid/vGPU) :::

:::warning Unsupported drivers

Linux: all before 510.73.05, from 515.0 to 515.17

Windows: all before 473.47, from 495.0 to 512.59, from 525 to 526.91 :::

Installation:

sudo apt-get update
sudo apt install build-essential -y
wget https://us.download.nvidia.com/XFree86/Linux-x86_64/525.85.05/NVIDIA-Linux-x86_64-525.85.05.run
chmod +x NVIDIA-Linux-x86_64-525.85.05.run
sudo ./NVIDIA-Linux-x86_64-525.85.05.run

Install Isaac Sim 2022.2.1 - as this is the latest version of the simulator on which streaming was successful
Make sure that TCP ports 8899 and 8211 are open. To do this, you need to start streaming, using netstat -lntu or ss -lntu
If the ports are closed, you can try to open them with the following commands:

For standard Ubuntu firewall:

sudo ufw allow port_name

For other cases:

iptables -A INPUT -p tcp --dport port_name -j ACCEPT 
sudo invoke-rc.d iptables-persistent save

If it didn't help, most likely there are additional access settings on the remote server, so ask the sysadmin to open the ports

Check the connection to the port: telnet localhost port_number

If you use a Docker container, don't forget to specify --network=host or forward 8899 and 8211 ports, run the docker container:

docker run --name isaac-sim --entrypoint bash -it --gpus device=1 
-e "ACCEPT_EULA=Y" --rm --network=host     -e "PRIVACY_CONSENT=Y"     
-v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw     
-v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw     
-v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw     
-v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw     
-v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw     
-v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw     
-v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw     
-v ~/docker/isaac-sim/documents:/root/Documents:rw  
-v ~/docker/isaac-sim/extension_examples:/isaac-sim/extension_examples:rw 
-v ~/docker/isaac-sim/standalone_examples:/isaac-sim/standalone_examples:rw   
nvcr.io/nvidia/isaac-sim:2022.2.1

TO-DO: Add changing default ports
Launch streaming

Linux:

./isaac-sim.headless.websocket.h264.sh

Windows:

./isaac-sim.headless.websocket.h264.bat

Docker container:

./runheadless.websocket.h264.sh

To run as a standalone application, add the following code:

from omni.isaac.kit import SimulationApp

CONFIG = {
    "width": 1280,
    "height": 720,
    "window_width": 1920,
    "window_height": 1080,
    "headless": True,
    "renderer": "RayTracedLighting",
    "display_options": 3286,  # Set display options to show default grid
}

# it is important to run before the imports of the other libraries, otherwise you will get an error
simulation_app = SimulationApp(launch_config=CONFIG)

simulation_app.set_setting("/app/window/drawMouse", True)
simulation_app.set_setting("/app/livestream/proto", "ws")
simulation_app.set_setting("/app/livestream/websocket/framerate_limit", 120)
simulation_app.set_setting("app/livestream/websocket/encoder_selection", 'OPENH264')
simulation_app.set_setting("/ngx/enabled", False)


from omni.isaac.core.utils.extensions import enable_extension

enable_extension("omni.services.streamclient.websocket")

#
# YOUR LIBRARIES IMPORT AND CODE HERE
#


while simulation_app.is_running() and not simulation_app.is_exiting():

    #
    # YOUR CODE HERE
    #
    
    simulation_app.update()
simulation_app.close()