name: simple

x-default-isaacsim-volumes: &default-isaacsim-volumes
  - type: bind
    source: ${DATA_DIR}
    target: /workspace/SIMPLE/data
  - type: bind
    source: /tmp/.X11-unix
    target: /tmp/.X11-unix
  - type: bind
    source: ${PWD}/.uv-cache
    target: /workspace/.uv-cache

services:
  isaac-sim: &isaac-sim
    # user: ${MY_UID}:${MY_GID}
    image: simple:${DATE:-latest}
    build:
      context: .
      dockerfile: Dockerfile
      network: host
      args:
        - TORCH_CUDA_ARCH_LIST=${TORCH_CUDA_ARCH_LIST}
        - TIMEZONE=${TIMEZONE}
        # 0 = minimal (default), 1 = full (decoupled_wbc[full] — real-robot / GUI teleop)
        - SIMPLE_FULL_INSTALL=${SIMPLE_FULL_INSTALL:-0}
    network_mode: "host"
    x-bake:
      platforms:
        - linux/amd64
        - linux/arm64
    # privileged: true # conflicts with runtime: nvidia
    runtime: nvidia
    environment:
      - DISPLAY=${DISPLAY:-:0}
      - OMNI_KIT_ACCEPT_EULA=Y
      - MUJOCO_GL=egl
      - NVIDIA_VISIBLE_DEVICES=${GPUs:-0}  # which GPUs to expose
      - NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics
    volumes: *default-isaacsim-volumes
    shm_size: "16gb"
    mem_limit: "0"          # 0 = unlimited
    memswap_limit: "0"

    stdin_open: true # docker run -i
    tty: true  # Keeps the container running interactively

  sim:
    <<: *isaac-sim
    entrypoint: /bin/bash
    command: []

  datagen:
    <<: *isaac-sim
    entrypoint: ["uv", "run", "--no-sync", "datagen"]
    command: []

  replay:
    <<: *isaac-sim
    command: uv run replay --headless

  eval:
    <<: *isaac-sim
    entrypoint: ["uv", "run", "--no-sync", "eval"]
    command: [] 

  eval-decoupled-wbc:
    <<: *isaac-sim
    entrypoint: ["uv", "run", "--no-sync", "eval-decoupled-wbc"]
    command: []

  gpu-test:
    image: simple:${DATE:-latest}
    command: /workspace/SIMPLE/.venv/bin/python -c "import torch; print(torch.cuda.is_available()); print(torch.cuda.device_count())"
    environment:
      - NVIDIA_VISIBLE_DEVICES=${GPUs:-0}  # which GPUs to expose
      - NVIDIA_DRIVER_CAPABILITIES=compute,utility
    runtime: nvidia