0.16.1 rc (#313)

* Remove deprecated sitl_integration folder

* Update version to 0.16.1-rc and update sensor paths to 5.1

Author: andrewjong

.env

@@ -11,7 +11,7 @@ PROJECT_NAME="airstack"
 # If you've run ./airstack.sh setup, then this will auto-generate from the git commit hash every time a change is made 
 # to a Dockerfile or docker-compose.yaml file. Otherwise this can also be set explicitly to make a release version.
 # auto-generated from git commit hash
-DOCKER_IMAGE_TAG="0.16.0"
+DOCKER_IMAGE_TAG="0.16.1-rc"
 # Can replace with your docker hub username
 PROJECT_DOCKER_REGISTRY="airlab-docker.andrew.cmu.edu/airstack"
 # ============================================

.gitignore

@@ -60,8 +60,6 @@ frames_*.pdf
 
 nucleus_token.txt
 
-docker/sitl_integration/px
-
 
 # mkdocs
 mkdocs.log

mkdocs.yml

@@ -127,7 +127,6 @@ nav:
           - docs/simulation/isaac_sim/export_stages_from_unreal.md
           - docs/simulation/isaac_sim/scene_setup.md
           - docs/simulation/isaac_sim/pegasus_scene_setup.md
-          - docs/simulation/isaac_sim/ascent_sitl_extension.md
   - Real World:
       - docs/real_world/index.md
       - docs/real_world/data_offloading/index.md

simulation/isaac-sim/docker/docker-compose.yaml

@@ -65,8 +65,9 @@ services:
       - $HOME/Documents/isaac_sim_data/logs:/root/.nvidia-omniverse/logs:rw
       - $HOME/Documents/isaac_sim_data/data:/root/.local/share/ov/data:rw
       - $HOME/Documents/isaac_sim_data/documents:/root/Documents:rw
-      # IMPORTANT: set the version number without the trailing .0
-      - ./user.config.json:/root/.local/share/ov/data/Kit/Isaac-Sim Full/5.1/user.config.json:rw
+      # omniverse
+      - ./omniverse.toml:/root/.nvidia-omniverse/config/omniverse.toml:rw
+      - ./user.config.json:/root/.local/share/ov/data/Kit/Isaac-Sim Full/5.1/user.config.json:rw # IMPORTANT: set the version number without the trailing .0
       - ./ui.py:/isaac-sim/kit/exts/omni.kit.widget.nucleus_connector/omni/kit/widget/nucleus_connector/ui.py:rw
       # developer stuff
       - .dev:/root/.dev:rw # developer config
@@ -80,14 +81,6 @@ services:
       - ../extensions/PegasusSimulator:/isaac_extensions/PegasusSimulator
       - ../extensions/PegasusSimulator/extensions/pegasus.simulator:/root/Documents/Kit/shared/exts/pegasus.simulator/
       - ../config/sim_to_robot_bridge.yaml:/sim_to_robot_bridge.yaml:ro
-      # code
-      - ../sitl_integration/kit-app-template/source/extensions/airlab.airstack:/root/Documents/Kit/shared/exts/airlab.airstack
-      - ../sitl_integration/kit-app-template/source/extensions/airlab.pegasus:/root/Documents/Kit/shared/exts/airlab.pegasus
-      - ../sitl_integration/kit-app-template/source/extensions/airlab.gimbal:/root/Documents/Kit/shared/exts/airlab.gimbal
-      - ../sitl_integration/kit-app-template/source/extensions/airlab.tmux_manager:/root/Documents/Kit/shared/exts/airlab.tmux_manager
-      - ../sitl_integration:/sitl_integration:rw
-      - ../sitl_integration/inputrc:/etc/inputrc
-      - ../sitl_integration/config:/root/.nvidia-omniverse/config:rw
 
   # ===================================================================================================================
   isaac-sim-gui:

simulation/isaac-sim/docker/omniverse.toml

@@ -0,0 +1,4 @@
+[bookmarks]
+"AirLab Nucleus Server" = "omniverse://airlab-nucleus.andrew.cmu.edu"
+"Local AirStack Isaac Assets" = "file:///root/AirStack/simulation/isaac-sim/assets/"
+"Nucleus Pegasus" = "omniverse://airlab-nucleus.andrew.cmu.edu/Library/Assets/Pegasus/"