Prereqs: Docker + docker-compose, X11 on host, NVIDIA driver + NVIDIA Container Toolkit (legacy runtime: nvidia).
Layout: docker/Dockerfile, overrides in docker/compose/ (base.yml, gui.yml, gpu.yml, hw.yml).

docker-compose -f docker/compose/base.yml build dev

export XAUTHORITY=${XAUTHORITY:-$HOME/.Xauthority}
xhost +local:docker

docker-compose -f docker/compose/base.yml -f docker/compose/gui.yml -f docker/compose/gpu.yml -f docker/compose/hw.yml run --rm run bash
(Use fewer -f files for lighter setups, e.g., GUI+GPU without HW.)

pip install -ve extensions/rcs_fr3
cd examples
python fr3_env_cartesian_control.py

• nvidia-smi missing in container: ensure it exists on host at /usr/bin/nvidia-smi (GPU override bind-mounts it).
• GUI can’t open: re-run the xhost command and confirm $DISPLAY is set on the host.