Merge pull request #712 from StanfordVL/doc-streaming

Documentation for remote streaming

docs/getting_started/remote_streaming.md

@@ -0,0 +1,66 @@
+---
+icon: material/monitor
+---
+
+# 🖥️ **Remote Streaming through WebRTC**
+
+This page describes the steps required to set up and troubleshoot remote streaming for Omnigibson using WebRTC. The feature allows users to run Omnigibson on a remote server and view it locally through a browser.
+
+## Enabling Remote Streaming
+To enable remote streaming with WebRTC, you need to set an environment variable before launching Omnigibson. Use the following command in your terminal:
+
+```{.shell .annotate}
+export OMNIGIBSON_REMOTE_STREAMING=webrtc
+```
+
+When you start Omnigibson, it will provide a URL that you can use to connect from your local machine.
+
+## Configuring Ports
+By default, Omnigibson uses two ports for remote streaming:
+
+ - HTTP Port (8211): This port serves the webpage used to connect via WebRTC.
+ - WebRTC Port (49100): This port handles the actual WebRTC connection.
+
+## Changing the HTTP Port
+To change the HTTP port, set the following environment variable to your desired port number:
+
+```{.shell .annotate}
+export OMNIGIBSON_HTTP_PORT=<desired_port_number>
+```
+
+## Changing the WebRTC Port
+To change the WebRTC port, set the following environment variable to your desired port number:
+
+```{.shell .annotate}
+export OMNIGIBSON_WEBRTC_PORT=<desired_port_number>
+```
+
+Note: Changing the WebRTC port requires an additional step. You need to update the JavaScript file that the HTTP server serves to ensure it points to the new WebRTC port. Depending on your installation (Docker or local), use one of the following commands:
+
+### For Docker: 
+
+```{.shell .annotate}
+sed -i "s/49100/${OMNIGIBSON_WEBRTC_PORT}/g" /isaac-sim/extscache/omni.services.streamclient.webrtc-1.3.8/web/js/kit-player.js
+```
+
+### For Local Installation:
+
+```{.shell .annotate}
+sed -i "s/49100/${OMNIGIBSON_WEBRTC_PORT}/g" ~/.local/share/ov/pkg/isaac_sim-2023.1.1/web/js/kit-player.js
+```
+
+## Troubleshooting
+
+### Issue: Undefined Symbol Error
+When opening the remote streaming webpage, you might see an error related to libssl.so.1.1. If you see the following error:
+
+```{.shell .annotate}
+python: symbol lookup error: /isaac-sim/extscache/omni.kit.streamsdk.plugins-2.5.2+105.1.lx64.r/bin/libssl.so.1.1: undefined symbol: EVP_idea_cbc, version OPENSSL_1_1_0
+```
+
+### Solution
+Make sure you have OpenSSL 1.1 installed in your conda environment. You can install it using the following command:
+
+```{.shell .annotate}
+conda install openssl==1.1
+```

mkdocs.yml

@@ -121,6 +121,7 @@ nav:
   - Tutorials:
     - Demo Collection: tutorials/demo_collection.md
     - Running on a Compute Cluster: tutorials/running_on_a_compute_cluster.md
+    - Remote Streaming: tutorials/remote_streaming.md    
     - Saving and Loading Simulation State: tutorials/save_load.md
     - Customizing Robots: tutorials/customizing_robots.md
     - Custom Robot Import: tutorials/custom_robot_import.md