services:
  tron1-sim:
    image: tron1-rl-deploy:noetic
    build:
      context: .
      dockerfile: Dockerfile
    container_name: tron1
    network_mode: host
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - ROBOT_TYPE=SF_TRON1A_ARX5ARM
    volumes:
      - ./tron1_ws:/root/tron1_ws
      - ./IsaacLab_RFM/data:/root/umi_data:ro
      - /tmp/.X11-unix:/tmp/.X11-unix
    stdin_open: true
    tty: true