#----------------------------------------------------------------------------------------------------
# Work done while being at the Intelligent Robotics and Vision Lab at the University of Texas, Dallas
# Please check the licenses of the respective works utilized here before using this script.
# 🖋️ Jishnu Jaykumar Padalunkal (2025).
#----------------------------------------------------------------------------------------------------

# Tested on Docker Compose version v2.24.5
# Ref: https://github.com/jishnujayakumar/contact_graspnet/blob/main/docker/docker-compose.yml

version: '3'
services:
  rpx:
    image: irvlutd/hrt1-rpx:latest
    container_name: rpx
    runtime: nvidia  # Add this line to specify NVIDIA runtime
    network_mode: host
    ipc: host
    cap_add:
      - SYS_PTRACE
    security_opt:
      - seccomp=unconfined
    environment:
      - NVIDIA_DISABLE_REQUIRE=1
      - DISPLAY=${DISPLAY}
      - ROS_MASTER_URI=${ROS_MASTER_URI}
      - ROS_HOSTNAME=${ROS_HOSTNAME}
      - ROS_IP=${ROS_IP}
      - GIT_INDEX_FILE
      - NVIDIA_VISIBLE_DEVICES=all  # Enables all GPUs
    stdin_open: true
    tty: true
    volumes:
      - /home:/home
      - /tmp:/tmp
      - /mnt:/mnt
      - ${PWD}/..:${PWD}/..