services:
  sru-nav:
    build:
      context: .
      dockerfile: Dockerfile
      args:
        ISAAC_SIM_VERSION: "4.5.0"
        ISAACLAB_VERSION: "v2.1.1"
        SRU_NAV_REPO: "https://github.com/leggedrobotics/sru-navigation-sim.git"
        SRU_NAV_REF: "main"
        # Optional, for CN servers behind GFW. Pass via env or shell:
        #   GITHUB_MIRROR=https://ghproxy.com/ docker compose build
        #   HTTP_PROXY=http://host:7890 HTTPS_PROXY=http://host:7890 docker compose build
        GITHUB_MIRROR: "${GITHUB_MIRROR:-}"
        HTTP_PROXY: "${HTTP_PROXY:-}"
        HTTPS_PROXY: "${HTTPS_PROXY:-}"
        NO_PROXY: "${NO_PROXY:-}"
        PIP_INDEX_URL: "${PIP_INDEX_URL:-}"
        PIP_TRUSTED_HOST: "${PIP_TRUSTED_HOST:-}"
    image: sru-nav:latest
    container_name: sru-nav
    runtime: nvidia
    stdin_open: true
    tty: true
    network_mode: host
    ipc: host
    shm_size: "16gb"
    ulimits:
      memlock: -1
      stack: 67108864
    environment:
      - ACCEPT_EULA=Y
      - PRIVACY_CONSENT=Y
      - DISPLAY=${DISPLAY:-:0}
      - NVIDIA_DRIVER_CAPABILITIES=all
      - NVIDIA_VISIBLE_DEVICES=all
      # Attempt to avoid RTX segfault on Blackwell (sm_120) by forcing true headless
      - OMNI_KIT_HEADLESS=1
      # Optional: put your wandb key in a .env file next to compose
      - WANDB_API_KEY=${WANDB_API_KEY:-}
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]
    volumes:
      # X11 for GUI (optional)
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      # Persist Isaac Sim caches across runs
      - isaac-cache-kit:/isaac-sim/kit/cache
      - isaac-cache-ov:/root/.cache/ov
      - isaac-cache-pip:/root/.cache/pip
      - isaac-cache-gl:/root/.cache/nvidia/GLCache
      - isaac-cache-compute:/root/.nv/ComputeCache
      - isaac-logs:/root/.nvidia-omniverse/logs
      - isaac-data:/root/.local/share/ov/data
      - isaac-docs:/root/Documents
      # Persist training outputs (logs/checkpoints)
      - ./outputs/logs:/workspace/IsaacLab/logs
      # Optional: live-mount the extension for development. Uncomment to use:
      # - ./sru-navigation-sim:/workspace/IsaacLab/source/isaaclab_nav_task
    working_dir: /workspace/IsaacLab
    command: /bin/bash

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