name: uhas-sim

x-isaac-volumes: &isaac-volumes
  # Shader / Kit caches. First Isaac Sim launch is slow; later runs reuse these.
  - type: volume
    source: isaac-cache-kit
    target: ${DOCKER_ISAACSIM_ROOT_PATH}/kit/cache
  - type: volume
    source: isaac-cache-ov
    target: ${DOCKER_USER_HOME}/.cache/ov
  - type: volume
    source: isaac-cache-pip
    target: ${DOCKER_USER_HOME}/.cache/pip
  - type: volume
    source: isaac-cache-gl
    target: ${DOCKER_USER_HOME}/.cache/nvidia/GLCache
  - type: volume
    source: isaac-cache-compute
    target: ${DOCKER_USER_HOME}/.nv/ComputeCache
  - type: volume
    source: isaac-logs
    target: ${DOCKER_USER_HOME}/.nvidia-omniverse/logs
  - type: volume
    source: isaac-carb-logs
    target: ${DOCKER_ISAACSIM_ROOT_PATH}/kit/logs/Kit/Isaac-Sim
  - type: volume
    source: isaac-data
    target: ${DOCKER_USER_HOME}/.local/share/ov/data
  - type: volume
    source: isaac-docs
    target: ${DOCKER_USER_HOME}/Documents
  # Live source: assets/grippers is a symlink into repo-root grippers/.
  - type: bind
    source: ..
    target: ${UHAS_PATH}
  # Local X11 for play.py (headless training ignores DISPLAY).
  - type: bind
    source: /tmp/.X11-unix
    target: /tmp/.X11-unix

services:
  uhas:
    env_file: .env
    build:
      context: .
      dockerfile: Dockerfile
      args:
        ISAACSIM_VERSION: ${ISAACSIM_VERSION}
        ISAACLAB_VERSION: ${ISAACLAB_VERSION}
    image: uhas-sim:isaac4.5-lab2.2.1
    container_name: uhas-sim
    working_dir: ${UHAS_PATH}
    environment:
      - ACCEPT_EULA=${ACCEPT_EULA}
      - PRIVACY_CONSENT=${PRIVACY_CONSENT}
      - OMNI_KIT_ALLOW_ROOT=1
      - ISAACLAB_PATH=${DOCKER_ISAACLAB_PATH}
      - ISAACSIM_ROOT_PATH=${DOCKER_ISAACSIM_ROOT_PATH}
      - UHAS_PATH=${UHAS_PATH}
      - DISPLAY=${DISPLAY:-}
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
    volumes: *isaac-volumes
    network_mode: host
    shm_size: "16gb"
    stdin_open: true
    tty: true
    init: true
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]

volumes:
  isaac-cache-kit:
  isaac-cache-ov:
  isaac-cache-pip:
  isaac-cache-gl:
  isaac-cache-compute:
  isaac-logs:
  isaac-carb-logs:
  isaac-data:
  isaac-docs: