[Bug Report] WebRTC Streaming Client connects but shows black screen with isaac-lab:3.0.0-beta2-post1 container

[reikote]

Describe the bug

When running Isaac Lab from the nvcr.io/nvidia/isaac-lab:3.0.0-beta2-post1 docker image with WebRTC livestreaming enabled (--livestream 2), the Isaac Sim WebRTC Streaming Client successfully establishes a connection (signaling completes, no connection error), but the video stream shows a black screen with no rendered content.

For comparison, the same host, the same Isaac Sim WebRTC Streaming Client, and the same network/firewall configuration work correctly when using nvcr.io/nvidia/isaac-sim:6.0.1 directly (via ./runheadless.sh -v), so the issue appears specific to this Isaac Lab container image / livestream setup rather than the network environment.

Steps to reproduce

1. Pull and run the container:

sudo docker run --name isaac-lab --entrypoint bash -it --gpus all -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 \
   nvcr.io/nvidia/isaac-lab:3.0.0-beta2-post1

2. Inside the container, run a tutorial script with WebRTC livestream enabled:

./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py --livestream 2 --enable_cameras

3. Open the Isaac Sim WebRTC Streaming Client on the host machine (same machine / same LAN) and connect to the host's IP on the default ports (49100 TCP signaling, 47998 UDP media).

System Info

• Container: nvcr.io/nvidia/isaac-lab:3.0.0-beta2-post1
• Host OS: Ubuntu 24.04.4 LTS
• Docker version: 29.1.3
• GPU: NVIDIA A40 (x2), driver 595.84
• docker run uses --network=host and --gpus all
• Same host/client setup works fine against nvcr.io/nvidia/isaac-sim:6.0.1 (non-Lab container)

Additional context

We also tried nvcr.io/nvidia/isaac-lab:2.3.2 (Isaac Sim 5.1-based) and could not get the WebRTC Streaming Client to connect at all with that image. Moving to 3.0.0-beta2-post1 (Isaac Sim 6.0.1-based) got us past the connection stage, but the video still does not render. I confirmed that WebRTC streaming works correctly with the Isaac Sim 6.0.1 container, but I'd like to try it with Isaac Lab.

[kgu42]

I reproduced the black-screen behavior with the 3.0.0-beta2-post1 container.
The container enables omni.kit.livestream.app for --livestream 2, but does not pass the required WebRTC stream settings. This workaround restored streaming for me:

./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py \
  --livestream 2 \
  --enable_cameras \
  --kit_args "--/exts/omni.kit.livestream.app/primaryStream/signalPort=49100 \
--/exts/omni.kit.livestream.app/primaryStream/streamPort=47998 \
--/exts/omni.kit.livestream.app/primaryStream/allowDynamicResize=true \
--/exts/omni.kit.livestream.app/primaryStream/streamType=webrtc"

A launcher fix already exists in PR #7329, but the 3.0.0-beta2-post1 container predates it. Alternatively, build Isaac Lab from the current develop branch. It already includes PR #7329, so the extra --kit_args are not needed.

git clone --branch develop https://github.com/isaac-sim/IsaacLab.git
cd IsaacLab
./docker/container.py start
./docker/container.py enter base

Then run the tutorial script in the container like you did previously:

isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py \
  --livestream 2 \
  --enable_cameras