From 282ffe35a72cc333cf44ce4cf2c833f43e7cfd86 Mon Sep 17 00:00:00 2001
From: Sebastian Scherer <basti@andrew.cmu.edu>
Date: Wed, 9 Oct 2024 09:59:21 -0400
Subject: [PATCH] Added config folder for issacsim so the default bookmark in
 the resource is the airlab server (#98)

---
 docker/docker-compose.yaml          | 24 +++++++++++++++---------
 docker/extras/config/omniverse.toml |  3 +++
 2 files changed, 18 insertions(+), 9 deletions(-)
 create mode 100644 docker/extras/config/omniverse.toml

diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml
index 96fe9e0c..0e346891 100644
--- a/docker/docker-compose.yaml
+++ b/docker/docker-compose.yaml
@@ -27,13 +27,14 @@ services:
       # ROS2 stuff
       - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
       - FASTRTPS_DEFAULT_PROFILES_FILE=/isaac-sim/fastdds.xml
-    deploy: # let it use the GPU
+    deploy:
+      # let it use the GPU
       resources:
         reservations:
           devices:
             - driver: nvidia # https://stackoverflow.com/a/70761193
               count: 1
-              capabilities: [gpu]
+              capabilities: [ gpu ]
     volumes:
       # display
       - $HOME/.Xauthority:/root/.Xauthority
@@ -54,6 +55,7 @@ services:
       - ./extras/kit-app-template/source/extensions/:/root/Documents/Kit/shared/exts/
       - ./extras:/extras:rw
       - ./extras/inputrc:/etc/inputrc
+      - ./extras/config:/root/.nvidia-omniverse/config:rw
 
   # ==============================================================================
   ground-control-station:
@@ -69,14 +71,16 @@ services:
     environment:
       - DISPLAY
       - QT_X11_NO_MITSHM=1
-    deploy: # let it use the GPU
+    deploy:
+      # let it use the GPU
       resources:
         reservations:
           devices:
             - driver: nvidia # https://stackoverflow.com/a/70761193
               count: 1
-              capabilities: [gpu]
-    ports:  # for ssh
+              capabilities: [ gpu ]
+    ports:
+      # for ssh
       - 2222:22
     volumes:
       # display stuff
@@ -110,14 +114,16 @@ services:
     environment:
       - DISPLAY
       - QT_X11_NO_MITSHM=1
-    deploy: # let it use the GPU
+    deploy:
+      # let it use the GPU
       resources:
         reservations:
           devices:
             - driver: nvidia # https://stackoverflow.com/a/70761193
               count: 1
-              capabilities: [gpu]
-    ports:  # for ssh, starting from 2223-2243 on the host port all map to 22 in the container. Assumes no more than 21 robots
+              capabilities: [ gpu ]
+    ports:
+      # for ssh, starting from 2223-2243 on the host port all map to 22 in the container. Assumes no more than 21 robots
       - "2223-2243:22"
     volumes:
       # display stuff
@@ -151,4 +157,4 @@ networks:
     ipam:
       driver: default
       config:
-        - subnet: 172.31.0.0/24
\ No newline at end of file
+        - subnet: 172.31.0.0/24
diff --git a/docker/extras/config/omniverse.toml b/docker/extras/config/omniverse.toml
new file mode 100644
index 00000000..f1e42127
--- /dev/null
+++ b/docker/extras/config/omniverse.toml
@@ -0,0 +1,3 @@
+
+[bookmarks]
+"AirLab Nucleus Server" = "omniverse://airlab-storage.andrew.cmu.edu:8443"