services:
  gopro-quest:
    profiles: ["gopro"]
    image: project-g1-gopro:latest
    build:
      context: ..
      dockerfile: docker/Dockerfile
      target: gopro
    network_mode: host
    init: true
    stdin_open: true
    tty: true
    stop_grace_period: 20s
    user: "${G1_UID:-1000}:${G1_GID:-1000}"
    group_add:
      - "${G1_VIDEO_GID:-44}"
      - "${G1_AUDIO_GID:-29}"
    devices:
      - "${G1_VIDEO_DEVICE:-/dev/video0}:/dev/video0"
      - "/dev/snd:/dev/snd"
    volumes:
      - "../config:/opt/project-g1/config:ro"
      - "../assets/quest:/opt/project-g1/assets/quest"
    environment:
      HOME: /tmp/project-g1-home
      PYTHONUNBUFFERED: "1"
    command:
      - /opt/conda/envs/project_g1/bin/python
      - docker/run_gopro_quest_container.py
      - --quest-host
      - "${G1_QUEST_HOST:-auto}"
      - --video-device
      - /dev/video0

  g1-simulation:
    profiles: ["simulation"]
    image: project-g1-simulation:latest
    build:
      context: ..
      dockerfile: docker/Dockerfile
      target: simulation
    network_mode: host
    init: true
    stdin_open: true
    tty: true
    stop_grace_period: 40s
    user: "${G1_UID:-1000}:${G1_GID:-1000}"
    group_add:
      - "${G1_RENDER_GID:-109}"
    devices:
      - "${G1_DRI_DEVICE:-/dev/dri}:/dev/dri"
    volumes:
      - "../config:/opt/project-g1/config:ro"
      - "../assets/quest:/opt/project-g1/assets/quest"
      - "../datasets:/opt/project-g1/datasets"
    environment:
      HOME: /tmp/project-g1-home
      PYTHONUNBUFFERED: "1"
    command:
      - python
      - src/run_g1_simulation.py
      - --simulator-backend
      - mujoco
      - --headless
      - --quest-host
      - "${G1_QUEST_HOST:-auto}"

  g1-runtime:
    profiles: ["physical"]
    image: project-g1-onboard:latest
    build:
      context: ..
      dockerfile: docker/Dockerfile
      target: onboard
    # DDS discovery and WebRTC ICE must see PC2's real interfaces.
    network_mode: host
    init: true
    stdin_open: true
    tty: true
    stop_grace_period: 40s
    user: "${G1_UID:-1000}:${G1_GID:-1000}"
    group_add:
      - "${G1_VIDEO_GID:-44}"
      - "${G1_AUDIO_GID:-29}"
    devices:
      - "${G1_VIDEO_DEVICE:-/dev/video0}:/dev/video0"
      - "/dev/snd:/dev/snd"
    volumes:
      - "../config:/opt/project-g1/config:ro"
      - "../assets/quest:/opt/project-g1/assets/quest"
      - "../datasets:/opt/project-g1/datasets"
    cap_add:
      - SYS_NICE
    ulimits:
      rtprio: 90
      memlock: -1
    environment:
      HOME: /tmp/project-g1-home
      PYTHONUNBUFFERED: "1"
    command:
      - python
      - src/run_g1_runtime.py
      - --network-interface
      - "${G1_ROBOT_INTERFACE:-eth0}"
      - --quest-host
      - "${G1_QUEST_HOST:-auto}"
      - --image-server-ip
      - "${G1_IMAGE_SERVER_IP:-192.168.123.164}"
      - --video-device
      - /dev/video0
      - --confirm-physical-robot