diff --git a/docker/thor/.env.example b/docker/thor/.env.example
new file mode 100644
index 000000000..7ae2dcd8d
--- /dev/null
+++ b/docker/thor/.env.example
@@ -0,0 +1,8 @@
+# Thor Docker environment variables.
+#
+# Copy to .env and edit:
+#   cp docker/thor/.env.example docker/thor/.env
+
+# Host path mounted read-only at /models in the container.
+# Policy configs that use --task.model-path should reference paths under /models.
+MODEL_PATH=${HOME}/models
diff --git a/docker/thor/Dockerfile b/docker/thor/Dockerfile
new file mode 100644
index 000000000..27b6becce
--- /dev/null
+++ b/docker/thor/Dockerfile
@@ -0,0 +1,284 @@
+# syntax=docker/dockerfile:1.7
+#
+# Thor Docker image for holosoma_inference on Jetson Thor (JetPack 7.1).
+#
+# Platform: aarch64 SBSA, Ubuntu 24.04 (Noble), Python 3.12, CUDA 13.
+# Purpose: run policy inference on a real Thor without needing the full
+# public Isaac Sim base image (which is x86_64).
+#
+# Build (default `inference` target — no ROS):
+#   docker build -t holosoma-thor-inference -f docker/thor/Dockerfile .
+#
+# Build ROS-enabled target (for Ros2Input cmd_vel bridge):
+#   docker build --target inference-ros -t holosoma-thor-inference-ros \
+#     -f docker/thor/Dockerfile .
+#
+# Run:
+#   docker run --rm --runtime nvidia --network=host -it \
+#     holosoma-thor-inference inference:g1-29dof-loco --task.interface eth0
+#
+# Layer strategy (stable → volatile, so code edits rebuild only the top):
+#   l4t-cuda       — CUDA 13 devel on Ubuntu 24.04 aarch64. Rebuilds ~never.
+#   python-base    — python3.12, build tools, uv. Rebuilds ~never.
+#   long-deps      — NVPL, cuDSS, TensorRT runtime libs. Rebuilds ~never.
+#   common-deps    — Python deps that rarely bump (numpy, scipy, pin, etc.).
+#   app-deps       — holosoma_inference + unitree_sdk2. Rebuilds every commit.
+#   inference      — entrypoint + cmd (terminal, no-ROS target).
+#
+# The -ros branch mirrors long-deps/common-deps/app-deps on top of a
+# ros-jazzy layer, so the Jazzy apt install (~1.5 GB) is also cached stably.
+
+# ─── Stage: l4t-cuda ──────────────────────────────────────────────────────────
+# CUDA 13 devel so nvcc + headers are available for any torch extension compile.
+# The SBSA apt repo is already configured in this base image.
+FROM nvcr.io/nvidia/cuda:13.0.2-devel-ubuntu24.04 AS l4t-cuda
+
+ENV LANG=C.UTF-8
+ENV DEBIAN_FRONTEND=noninteractive
+ENV PYTHONDONTWRITEBYTECODE=1
+ENV PYTHONUNBUFFERED=1
+
+
+# ─── Stage: python-base ───────────────────────────────────────────────────────
+# System Python + build tools + uv. Output venv lives at /opt/venv so it
+# survives across layer boundaries and can be PATH-prepended.
+FROM l4t-cuda AS python-base
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ca-certificates \
+    build-essential \
+    cmake \
+    curl \
+    git \
+    wget \
+    python3.12 \
+    python3.12-dev \
+    python3.12-venv \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install uv from the official image (pinning to :latest — bump explicitly in
+# this file if you want a deterministic version).
+COPY --from=ghcr.io/astral-sh/uv:latest /uv /usr/local/bin/uv
+
+ENV VIRTUAL_ENV=/opt/venv
+RUN python3.12 -m venv $VIRTUAL_ENV
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+
+
+# ─── Stage: long-deps ─────────────────────────────────────────────────────────
+# NVIDIA math + inference libs that rarely change.
+FROM python-base AS long-deps
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    # NVPL math libs (required by CUDA torch wheel on aarch64 SBSA)
+    libnvpl-blas0 \
+    libnvpl-lapack0 \
+    # cuDSS sparse solver (required by torch on CUDA 13)
+    libcudss0-cuda-13 \
+    # TensorRT runtime (policy ONNX runtime may dlopen libnvinfer)
+    libnvinfer10 \
+    libnvinfer-plugin10 \
+    libnvonnxparsers10 \
+    && rm -rf /var/lib/apt/lists/*
+
+# cuDSS installs to a versioned path not in the default linker search path.
+RUN echo "/usr/lib/aarch64-linux-gnu/libcudss/13" > /etc/ld.so.conf.d/cudss-13.conf \
+    && ldconfig
+
+
+# ─── Stage: common-deps ───────────────────────────────────────────────────────
+# Python dependencies of holosoma_inference that rarely change.
+# Keep this layer separate from app source so edits to holosoma code don't
+# invalidate these installs.
+FROM long-deps AS common-deps
+
+# Core deps from src/holosoma_inference/setup.py install_requires, plus
+# pinocchio for WBT policy support (not in setup.py — installed separately,
+# matching scripts/setup_inference_via_uv.sh).
+#
+# DRIFT RISK: this list duplicates setup.py's install_requires because we
+# want the layered-cache benefit (deps install ~once, source rebuilds
+# invalidate only the final layer). When setup.py deps change, this list
+# must be updated too. Source of truth: src/holosoma_inference/setup.py.
+RUN uv pip install \
+    "pydantic" \
+    "loguru" \
+    "netifaces" \
+    "onnx" \
+    "onnxruntime" \
+    "scipy" \
+    "sshkeyboard" \
+    "termcolor" \
+    "pyyaml" \
+    "tyro>=0.10.0a4" \
+    "wandb" \
+    "zmq" \
+    "defusedxml" \
+    "evdev" \
+    "pin>=3.8.0"
+
+
+# ─── Stage: app-deps ──────────────────────────────────────────────────────────
+# Install amazon-far unitree_sdk2 wheel + copy holosoma_inference source.
+# This is the only layer that changes on every commit.
+FROM common-deps AS app-deps
+
+# unitree_sdk2 Python 3.12 aarch64 wheel from amazon-far's GitHub release.
+# Bump UNITREE_SDK2_VERSION in one place when a new release is published.
+ARG UNITREE_SDK2_VERSION=0.1.3
+ARG UNITREE_SDK2_WHL=unitree_sdk2-${UNITREE_SDK2_VERSION}-cp312-cp312-linux_aarch64.whl
+RUN wget -q -O "/tmp/${UNITREE_SDK2_WHL}" \
+    "https://github.com/amazon-far/unitree_sdk2/releases/download/${UNITREE_SDK2_VERSION}/${UNITREE_SDK2_WHL}" \
+    && uv pip install "/tmp/${UNITREE_SDK2_WHL}" \
+    && rm "/tmp/${UNITREE_SDK2_WHL}"
+
+# holosoma_inference source (editable install, --no-deps since common-deps
+# handled the runtime deps above).
+COPY src/holosoma_inference /opt/holosoma-src/src/holosoma_inference
+WORKDIR /opt/holosoma-src
+RUN uv pip install --no-deps -e src/holosoma_inference
+
+
+# ─── Stage: inference ─────────────────────────────────────────────────────────
+# Default target: terminal image with policy entrypoint, no ROS.
+# Override CMD with the policy config + task flags at `docker run` time.
+FROM app-deps AS inference
+
+WORKDIR /opt/holosoma-src
+
+ENTRYPOINT ["python3", "src/holosoma_inference/holosoma_inference/run_policy.py"]
+CMD ["--help"]
+
+
+# ═════════════════════════════════════════════════════════════════════════════
+# ROS 2 Jazzy branch — mirrors no-ROS branch but layered on ros-jazzy.
+# Built with:  docker build --target inference-ros ...
+# ═════════════════════════════════════════════════════════════════════════════
+
+# ─── Stage: ros-jazzy ─────────────────────────────────────────────────────────
+# ROS 2 Jazzy from upstream packages.ros.org (not NVIDIA's L4T repo — we want
+# the distribution mainline). Adds ~1.5 GB but is stable across code changes.
+FROM python-base AS ros-jazzy
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    gnupg \
+    lsb-release \
+    && rm -rf /var/lib/apt/lists/*
+
+# Add ROS 2 apt repo + key.
+RUN curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
+    | gpg --dearmor -o /usr/share/keyrings/ros-archive-keyring.gpg \
+    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu noble main" \
+    > /etc/apt/sources.list.d/ros2.list
+
+# Install Jazzy base + FastDDS + CycloneDDS.
+#
+# Why both RMWs: unitree_sdk2's pybind11 binding bundles CycloneDDS 0.10.2
+# (ABI-incompatible with Jazzy's CycloneDDS 0.10.5). Loading both in one
+# process crashes. Running rclpy on FastDDS sidesteps the conflict entirely
+# — FastDDS and CycloneDDS have disjoint binary symbol spaces, so the two
+# middlewares coexist cleanly in one process. unitree_sdk2 keeps its bundled
+# CycloneDDS; rclpy uses FastDDS.
+#
+# Cross-container /cmd_vel interop: FastDDS ↔ CycloneDDS is validated on
+# Jazzy for standard message types (TwistStamped tested on aarch64). Pick
+# whichever RMW your publisher container uses; no alignment required.
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-jazzy-ros-base \
+    ros-jazzy-rmw-fastrtps-cpp \
+    ros-jazzy-rmw-cyclonedds-cpp \
+    && rm -rf /var/lib/apt/lists/*
+
+ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+
+# Source ROS on every shell so /opt/ros/jazzy bins are on PATH.
+RUN echo "source /opt/ros/jazzy/setup.bash" >> /etc/bash.bashrc
+
+
+# ─── Stage: long-deps-ros ─────────────────────────────────────────────────────
+# NVIDIA math/inference libs on top of the ROS base.
+FROM ros-jazzy AS long-deps-ros
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    libnvpl-blas0 \
+    libnvpl-lapack0 \
+    libcudss0-cuda-13 \
+    libnvinfer10 \
+    libnvinfer-plugin10 \
+    libnvonnxparsers10 \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN echo "/usr/lib/aarch64-linux-gnu/libcudss/13" > /etc/ld.so.conf.d/cudss-13.conf \
+    && ldconfig
+
+
+# ─── Stage: common-deps-ros ───────────────────────────────────────────────────
+# Same Python deps as common-deps (kept verbatim so this stage caches
+# independently — cross-branch cache sharing is not possible with different
+# parent layers).
+FROM long-deps-ros AS common-deps-ros
+
+RUN uv pip install \
+    "pydantic" \
+    "loguru" \
+    "netifaces" \
+    "onnx" \
+    "onnxruntime" \
+    "scipy" \
+    "sshkeyboard" \
+    "termcolor" \
+    "pyyaml" \
+    "tyro>=0.10.0a4" \
+    "wandb" \
+    "zmq" \
+    "defusedxml" \
+    "evdev" \
+    "pin>=3.8.0"
+
+
+# ─── Stage: app-deps-ros ──────────────────────────────────────────────────────
+FROM common-deps-ros AS app-deps-ros
+
+ARG UNITREE_SDK2_VERSION=0.1.3
+ARG UNITREE_SDK2_WHL=unitree_sdk2-${UNITREE_SDK2_VERSION}-cp312-cp312-linux_aarch64.whl
+RUN wget -q -O "/tmp/${UNITREE_SDK2_WHL}" \
+    "https://github.com/amazon-far/unitree_sdk2/releases/download/${UNITREE_SDK2_VERSION}/${UNITREE_SDK2_WHL}" \
+    && uv pip install "/tmp/${UNITREE_SDK2_WHL}" \
+    && rm "/tmp/${UNITREE_SDK2_WHL}"
+
+COPY src/holosoma_inference /opt/holosoma-src/src/holosoma_inference
+# demo_scripts/ros2_velocity_publisher.py is used by the run_shuttle_publisher.sh
+# helper to drive /cmd_vel for cross-container DDS tests.
+COPY demo_scripts /opt/holosoma-src/demo_scripts
+WORKDIR /opt/holosoma-src
+RUN uv pip install --no-deps -e src/holosoma_inference
+
+
+# ─── Stage: inference-ros ─────────────────────────────────────────────────────
+# ROS-enabled terminal target. Entrypoint sources Jazzy then runs the policy
+# so Ros2Input can use rclpy + TwistStamped to receive /cmd_vel.
+FROM app-deps-ros AS inference-ros
+
+WORKDIR /opt/holosoma-src
+
+# Wrap entrypoint to source ROS before execing python.
+#
+# DDS coexistence: rclpy uses FastDDS (RMW_IMPLEMENTATION=rmw_fastrtps_cpp),
+# unitree_sdk2 uses its bundled CycloneDDS 0.10.2. FastDDS and CycloneDDS
+# have disjoint symbol spaces, so they coexist in one process — BUT sourcing
+# ROS puts Jazzy's libddsc 0.10.5 on LD_LIBRARY_PATH, which would win when
+# unitree's bundled libddscxx resolves its libddsc dep, causing an ABI
+# mismatch (unitree built against 0.10.2 headers). Prepend unitree's bundle
+# dir to LD_LIBRARY_PATH so the bundled libddsc wins for unitree's use.
+# rclpy doesn't touch libddsc at all (it's on FastDDS), so no conflict.
+RUN printf '%s\n' \
+    '#!/bin/bash' \
+    'set -e' \
+    'source /opt/ros/jazzy/setup.bash' \
+    'export LD_LIBRARY_PATH=/opt/venv/lib/python3.12/site-packages/unitree_interface:$LD_LIBRARY_PATH' \
+    'exec python3 src/holosoma_inference/holosoma_inference/run_policy.py "$@"' \
+    > /usr/local/bin/run_policy_ros \
+    && chmod +x /usr/local/bin/run_policy_ros
+
+ENTRYPOINT ["/usr/local/bin/run_policy_ros"]
+CMD ["--help"]
diff --git a/docker/thor/Makefile b/docker/thor/Makefile
new file mode 100644
index 000000000..485732d7f
--- /dev/null
+++ b/docker/thor/Makefile
@@ -0,0 +1,43 @@
+# Make targets for the Thor (Jetson AGX, JetPack 7.1) holosoma_inference
+# Docker images. Thin wrappers over docker compose so the common commands
+# are a single token.
+#
+# Usage (from docker/thor/):
+#   make                       # help
+#   make inference             # build no-ROS image
+#   make inference-ros         # build ROS image
+#   make both                  # build both
+#   make run-inference ARGS='inference:g1-29dof-loco --task.interface eth0'
+#   make run-inference-ros ARGS='inference:g1-29dof-loco --task.velocity-input ros2 --task.state-input interface --task.interface eth0'
+#   make clean                 # remove both images
+
+.PHONY: help inference inference-ros both run-inference run-inference-ros clean
+
+COMPOSE := docker compose -f compose.yaml
+
+help:
+	@echo "Thor Docker targets (run from docker/thor/):"
+	@echo "  make inference              Build holosoma-thor-inference (no ROS)"
+	@echo "  make inference-ros          Build holosoma-thor-inference-ros (ROS 2 Jazzy)"
+	@echo "  make both                   Build both images"
+	@echo "  make run-inference          Run no-ROS image (pass ARGS='...')"
+	@echo "  make run-inference-ros      Run ROS image (pass ARGS='...')"
+	@echo "  make clean                  Remove both images"
+
+inference:
+	$(COMPOSE) build inference
+
+inference-ros:
+	$(COMPOSE) build inference-ros
+
+both:
+	$(COMPOSE) build
+
+run-inference:
+	$(COMPOSE) run --rm inference $(ARGS)
+
+run-inference-ros:
+	$(COMPOSE) run --rm inference-ros $(ARGS)
+
+clean:
+	-docker rmi holosoma-thor-inference holosoma-thor-inference-ros
diff --git a/docker/thor/README.md b/docker/thor/README.md
new file mode 100644
index 000000000..4534bfc8b
--- /dev/null
+++ b/docker/thor/README.md
@@ -0,0 +1,175 @@
+# Thor Docker images — `holosoma_inference`
+
+Jetson Thor (JetPack 7.1, Ubuntu 24.04, CUDA 13, aarch64 SBSA).
+
+Two targets ship from a single `Dockerfile`:
+
+| Target | Image name | Includes | Use case |
+|---|---|---|---|
+| `inference` | `holosoma-thor-inference` | Policy + unitree_sdk2. No ROS. | Joystick or keyboard input, self-contained inference on Thor. |
+| `inference-ros` | `holosoma-thor-inference-ros` | Policy + unitree_sdk2 + ROS 2 Jazzy (FastDDS for rclpy, unitree's bundled CycloneDDS for the SDK). | `Ros2Input` — subscribe to `/cmd_vel` from any ROS publisher. |
+
+## Build
+
+From the repo root:
+
+```bash
+# No-ROS variant (smaller image, works with joystick/keyboard input)
+docker build --target inference -t holosoma-thor-inference -f docker/thor/Dockerfile .
+
+# ROS-enabled variant (required for Ros2Input)
+docker build --target inference-ros -t holosoma-thor-inference-ros -f docker/thor/Dockerfile .
+```
+
+Or via Docker Compose (builds the same images, uses `compose.yaml`):
+
+```bash
+docker compose -f docker/thor/compose.yaml build inference
+docker compose -f docker/thor/compose.yaml build inference-ros
+```
+
+Or via the scoped `Makefile` (run from `docker/thor/`):
+
+```bash
+cd docker/thor
+make inference        # no-ROS
+make inference-ros    # ROS-enabled
+make both             # both
+```
+
+## Run (launch scripts)
+
+The `scripts/` directory has thin wrappers around `docker compose run` for
+the common input-mode combinations (joystick+joystick, ros2+joystick, etc.).
+See `scripts/README.md` for the full list. Quick start:
+
+```bash
+cd docker/thor/scripts
+./run_joystick.sh                      # blind-loco via joystick (no ROS)
+./run_ros2_joystick.sh                 # /cmd_vel from ROS + joystick state
+./run_shuttle_publisher.sh             # (other terminal) drives /cmd_vel
+```
+
+## Run (Docker Compose — recommended)
+
+The compose file wires up the runtime flags (`--runtime nvidia`, host
+network, host IPC, `--privileged`, GPU env) and mounts a model directory
+from the host. Copy `.env.example` to `.env` to override `MODEL_PATH` if
+your ONNX models live somewhere other than `$HOME/models`.
+
+```bash
+# Walking demo on a Unitree G1 via joystick (no ROS needed)
+docker compose -f docker/thor/compose.yaml run --rm inference \
+  inference:g1-29dof-loco --task.interface eth0
+
+# Receive /cmd_vel from another ROS container on the same network
+docker compose -f docker/thor/compose.yaml run --rm inference-ros \
+  inference:g1-29dof-loco \
+    --task.velocity-input ros2 \
+    --task.state-input interface \
+    --task.interface eth0
+```
+
+Or via Makefile shortcuts (run from `docker/thor/`):
+
+```bash
+cd docker/thor
+make run-inference ARGS='inference:g1-29dof-loco --task.interface eth0'
+make run-inference-ros ARGS='inference:g1-29dof-loco --task.velocity-input ros2 --task.state-input interface --task.interface eth0'
+```
+
+## Run (direct docker, if you don't want compose)
+
+```bash
+docker run --rm --runtime nvidia --network=host --ipc=host --privileged -it \
+  -v $HOME/models:/models:ro \
+  holosoma-thor-inference \
+  inference:g1-29dof-loco --task.interface eth0
+
+docker run --rm --runtime nvidia --network=host --ipc=host --privileged -it \
+  -v $HOME/models:/models:ro \
+  -e RMW_IMPLEMENTATION=rmw_fastrtps_cpp \
+  holosoma-thor-inference-ros \
+  inference:g1-29dof-loco \
+    --task.velocity-input ros2 \
+    --task.state-input interface \
+    --task.interface eth0
+```
+
+`RMW_IMPLEMENTATION=rmw_fastrtps_cpp` is also the image default. Publisher
+containers can use either FastDDS or CycloneDDS — cross-vendor DDS interop
+for standard message types is validated on Jazzy.
+
+`--network=host` is required so unitree_sdk2's UDP multicast can reach the
+robot. `--runtime nvidia` gives the container access to the Thor GPU.
+`--ipc=host` lets the container share POSIX shared memory with sibling
+containers (e.g. a ZED depth pipeline).
+
+## Layer structure
+
+Ordered stable → volatile so day-to-day code changes only rebuild the top
+layer:
+
+```
+l4t-cuda (CUDA 13 devel, Ubuntu 24.04)           ← never
+ └─ python-base (python3.12, build tools, uv)    ← ~never
+     ├─ long-deps (NVPL, cuDSS, TensorRT libs)   ← ~never
+     │   └─ common-deps (numpy, scipy, pin, …)   ← weekly-ish
+     │       └─ app-deps (unitree_sdk2 + src)    ← every commit
+     │           └─ inference                    ← terminal target
+     │
+     └─ ros-jazzy (ros-jazzy-ros-base + FastDDS + CycloneDDS)   ← ~never
+         └─ long-deps-ros (same as long-deps)         ← ~never
+             └─ common-deps-ros (same as common-deps) ← weekly-ish
+                 └─ app-deps-ros (unitree_sdk2 + src) ← every commit
+                     └─ inference-ros                 ← terminal target
+```
+
+Both branches share `l4t-cuda` and `python-base`. Everything below forks
+because the ROS install mutates system apt state and Python deps need to be
+installed on top of ROS's system packages to avoid ABI surprises.
+
+## Version pinning
+
+- **CUDA**: `nvcr.io/nvidia/cuda:13.0.2-devel-ubuntu24.04` (matches JetPack 7.1
+  + CUDA 13 on Thor).
+- **ROS 2**: Jazzy (Noble native; compatible with common ROS nav stacks).
+- **`unitree_sdk2`**: `0.1.3` (set via `--build-arg UNITREE_SDK2_VERSION=...`).
+  Bump when a new amazon-far release is published with a cp312 aarch64 wheel.
+- **Python deps**: unpinned by design — let `uv` resolve. Source of truth
+  for the dep list is `src/holosoma_inference/setup.py`.
+
+## Troubleshooting
+
+**Build fails at `wget ... unitree_sdk2-0.1.3-cp312-cp312-linux_aarch64.whl`**
+
+The wheel asset may not yet be uploaded to the release. Check
+https://github.com/amazon-far/unitree_sdk2/releases and ping the maintainer.
+
+**`libcudss.so.0: cannot open shared object file`**
+
+cuDSS installs to `/usr/lib/aarch64-linux-gnu/libcudss/13/`, which the
+Dockerfile adds via `ld.so.conf.d`. If you see this error, something has
+overwritten `ld.so.cache`; run `ldconfig` inside the container.
+
+**Robot doesn't respond to `/cmd_vel` (inference-ros)**
+
+Most common cause: the policy isn't in Walking state. `--task.state-input
+interface` means `START/WALK/STAND` come from the joystick, not ROS — press
+the start + walk combo on the Unitree controller before expecting incoming
+velocity commands to take effect.
+
+DDS interop: this image's rclpy runs on FastDDS by default
+(`RMW_IMPLEMENTATION=rmw_fastrtps_cpp`). Cross-vendor interop with a
+CycloneDDS publisher is hardware-validated for `TwistStamped` on Jazzy-to-
+Jazzy (see `scripts/run_shuttle_publisher_cyclonedds.sh`). If you observe
+silent data-delivery failures with a mixed setup, first confirm both sides
+are on the same ROS 2 distro — our own testing has seen cross-distro
+pairings (e.g. Humble ↔ Jazzy) fail silently while same-distro cross-vendor
+pairings work.
+
+Why FastDDS for rclpy (not CycloneDDS): unitree_sdk2's pybind11 binding
+bundles CycloneDDS 0.10.2 C++ libraries, ABI-incompatible with Jazzy's
+CycloneDDS 0.10.5. Loading both in one process crashes. FastDDS and
+CycloneDDS have disjoint binary symbol spaces, so they coexist cleanly —
+rclpy on FastDDS, unitree_sdk2 on its bundled CycloneDDS.
diff --git a/docker/thor/compose.yaml b/docker/thor/compose.yaml
new file mode 100644
index 000000000..938cbd040
--- /dev/null
+++ b/docker/thor/compose.yaml
@@ -0,0 +1,67 @@
+# Docker Compose for Thor (Jetson Thor, JetPack 7.1) holosoma_inference.
+#
+# Two services, both built from the same Dockerfile with different targets:
+#   inference       — no-ROS policy; joystick/keyboard/interface input only
+#   inference-ros   — adds ROS 2 Jazzy for Ros2Input (/cmd_vel subscriber)
+#
+# Only one service should run at a time per robot (both bind to the same
+# unitree_sdk2 UDP multicast on the host network).
+#
+# Usage:
+#   # Build one or both
+#   docker compose -f docker/thor/compose.yaml build inference
+#   docker compose -f docker/thor/compose.yaml build inference-ros
+#
+#   # Run the blind-loco policy with joystick input (no ROS needed)
+#   docker compose -f docker/thor/compose.yaml run --rm inference \
+#     inference:g1-29dof-loco --task.interface eth0
+#
+#   # Run with /cmd_vel input from a ROS publisher
+#   docker compose -f docker/thor/compose.yaml run --rm inference-ros \
+#     inference:g1-29dof-loco \
+#       --task.velocity-input ros2 \
+#       --task.state-input interface \
+#       --task.interface eth0
+#
+# Override the default model directory mount via .env:
+#   MODEL_PATH=~/models   # contains g1_29dof/model_*.onnx
+
+services:
+  inference:
+    image: holosoma-thor-inference
+    build:
+      context: ../..
+      dockerfile: docker/thor/Dockerfile
+      target: inference
+    runtime: nvidia
+    network_mode: host      # unitree_sdk2 uses UDP multicast on the host net
+    ipc: host               # share POSIX shm with other locomotion containers
+    privileged: true        # raw socket access for unitree_sdk2
+    environment:
+      - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=all
+    volumes:
+      # Optional: mount ONNX model directory from host.
+      # Policy configs reference --task.model-path; set MODEL_PATH in .env
+      # to override the default of $HOME/models.
+      - ${MODEL_PATH:-${HOME}/models}:/models:ro
+
+  inference-ros:
+    image: holosoma-thor-inference-ros
+    build:
+      context: ../..
+      dockerfile: docker/thor/Dockerfile
+      target: inference-ros
+    runtime: nvidia
+    network_mode: host
+    ipc: host
+    privileged: true
+    environment:
+      - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=all
+      # FastDDS for rclpy — coexists with unitree_sdk2's bundled CycloneDDS
+      # in the same process. FastDDS ↔ CycloneDDS cross-vendor interop
+      # works on Jazzy for standard message types (see docker/thor/README.md).
+      - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+    volumes:
+      - ${MODEL_PATH:-${HOME}/models}:/models:ro
diff --git a/docker/thor/scripts/README.md b/docker/thor/scripts/README.md
new file mode 100644
index 000000000..df207bffd
--- /dev/null
+++ b/docker/thor/scripts/README.md
@@ -0,0 +1,31 @@
+# Thor launch scripts
+
+Shell wrappers over `docker compose run --rm ...` for common policy invocations.
+Build the image once (`cd docker/thor && make inference` or
+`make inference-ros`), then launch with one of these scripts.
+
+Each script passes through extra arguments to `run_policy.py`, e.g.:
+
+```bash
+./run_joystick.sh --task.model-path /models/my_custom.onnx
+```
+
+| Script | Target image | velocity_input | state_input | Policy |
+|---|---|---|---|---|
+| `run_joystick.sh` | `inference` | joystick | joystick | g1-29dof-loco |
+| `run_keyboard.sh` | `inference` | keyboard | keyboard | g1-29dof-loco |
+| `run_ros2_joystick.sh` | `inference-ros` | ros2 (`/cmd_vel`) | joystick | g1-29dof-loco |
+| `run_ros2_keyboard.sh` | `inference-ros` | ros2 (`/cmd_vel`) | keyboard | g1-29dof-loco |
+| `run_wbt_joystick.sh` | `inference` | joystick | joystick | g1-29dof-wbt |
+| `run_shuttle_publisher.sh` | `inference-ros` | (publisher, not policy) | — | — |
+| `run_shuttle_publisher_cyclonedds.sh` | `inference-ros` | (publisher, not policy) | — | — |
+
+`run_shuttle_publisher.sh` publishes a 3s-forward / 3s-back shuttle pattern
+on `/cmd_vel` to validate the Ros2Input cross-container DDS path. Launch
+`run_ros2_joystick.sh` in another terminal first; transition the policy
+to Walking via the joystick; then run the shuttle publisher.
+
+`run_shuttle_publisher_cyclonedds.sh` is the same publisher but forces
+`RMW_IMPLEMENTATION=rmw_cyclonedds_cpp` — useful for validating cross-vendor
+DDS interop when the policy container runs rclpy on FastDDS (the default)
+and the publisher uses CycloneDDS.
diff --git a/docker/thor/scripts/run_joystick.sh b/docker/thor/scripts/run_joystick.sh
new file mode 100755
index 000000000..7b55ae601
--- /dev/null
+++ b/docker/thor/scripts/run_joystick.sh
@@ -0,0 +1,15 @@
+#!/bin/bash
+# Launch holosoma-thor-inference with joystick velocity + joystick state commands.
+# Policy: g1-29dof-loco (blind locomotion).
+#
+# Usage: ./run_joystick.sh [extra args for run_policy.py]
+set -e
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+cd "$SCRIPT_DIR/.."
+
+docker compose -f compose.yaml run --rm inference \
+    inference:g1-29dof-loco \
+    --task.use-joystick \
+    --task.interface eth0 \
+    "$@"
diff --git a/docker/thor/scripts/run_keyboard.sh b/docker/thor/scripts/run_keyboard.sh
new file mode 100755
index 000000000..ee1245f09
--- /dev/null
+++ b/docker/thor/scripts/run_keyboard.sh
@@ -0,0 +1,15 @@
+#!/bin/bash
+# Launch holosoma-thor-inference with keyboard velocity + keyboard state commands.
+# Policy: g1-29dof-loco (blind locomotion).
+#
+# Usage: ./run_keyboard.sh [extra args for run_policy.py]
+set -e
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+cd "$SCRIPT_DIR/.."
+
+docker compose -f compose.yaml run --rm inference \
+    inference:g1-29dof-loco \
+    --task.use-keyboard \
+    --task.interface eth0 \
+    "$@"
diff --git a/docker/thor/scripts/run_ros2_joystick.sh b/docker/thor/scripts/run_ros2_joystick.sh
new file mode 100755
index 000000000..833ffe98f
--- /dev/null
+++ b/docker/thor/scripts/run_ros2_joystick.sh
@@ -0,0 +1,19 @@
+#!/bin/bash
+# Launch holosoma-thor-inference-ros with /cmd_vel from ROS + state from joystick.
+# Policy: g1-29dof-loco.
+#
+# Use this when a ROS publisher is driving velocity and the joystick is
+# used only for Walking/Standing state transitions.
+#
+# Usage: ./run_ros2_joystick.sh [extra args for run_policy.py]
+set -e
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+cd "$SCRIPT_DIR/.."
+
+docker compose -f compose.yaml run --rm inference-ros \
+    inference:g1-29dof-loco \
+    --task.velocity-input ros2 \
+    --task.state-input interface \
+    --task.interface eth0 \
+    "$@"
diff --git a/docker/thor/scripts/run_ros2_keyboard.sh b/docker/thor/scripts/run_ros2_keyboard.sh
new file mode 100755
index 000000000..6956896e6
--- /dev/null
+++ b/docker/thor/scripts/run_ros2_keyboard.sh
@@ -0,0 +1,16 @@
+#!/bin/bash
+# Launch holosoma-thor-inference-ros with /cmd_vel from ROS + state from keyboard.
+# Policy: g1-29dof-loco.
+#
+# Usage: ./run_ros2_keyboard.sh [extra args for run_policy.py]
+set -e
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+cd "$SCRIPT_DIR/.."
+
+docker compose -f compose.yaml run --rm inference-ros \
+    inference:g1-29dof-loco \
+    --task.velocity-input ros2 \
+    --task.state-input keyboard \
+    --task.interface eth0 \
+    "$@"
diff --git a/docker/thor/scripts/run_shuttle_publisher.sh b/docker/thor/scripts/run_shuttle_publisher.sh
new file mode 100755
index 000000000..9bb911d6d
--- /dev/null
+++ b/docker/thor/scripts/run_shuttle_publisher.sh
@@ -0,0 +1,22 @@
+#!/bin/bash
+# Launch the shuttle velocity publisher INSIDE the inference-ros container.
+# Publishes /cmd_vel with a 3s-forward, 3s-backward pattern at 0.5 m/s,
+# which run_policy (with --task.velocity-input ros2) will subscribe to.
+#
+# Intended workflow:
+#   Terminal 1:  ./run_ros2_joystick.sh           # starts the policy
+#   Terminal 2:  ./run_shuttle_publisher.sh       # drives /cmd_vel
+#
+# Usage: ./run_shuttle_publisher.sh [extra args for ros2_velocity_publisher.py]
+set -e
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+cd "$SCRIPT_DIR/.."
+
+docker compose -f compose.yaml run --rm --entrypoint='' inference-ros \
+    bash -c "source /opt/ros/jazzy/setup.bash && \
+      python3 -u /opt/holosoma-src/demo_scripts/ros2_velocity_publisher.py \
+        --pattern shuttle \
+        --other-topic holosoma/state_input \
+        $*" \
+    "$@"
diff --git a/docker/thor/scripts/run_shuttle_publisher_cyclonedds.sh b/docker/thor/scripts/run_shuttle_publisher_cyclonedds.sh
new file mode 100755
index 000000000..a3095a8a0
--- /dev/null
+++ b/docker/thor/scripts/run_shuttle_publisher_cyclonedds.sh
@@ -0,0 +1,22 @@
+#!/bin/bash
+# Same as run_shuttle_publisher.sh but forces CycloneDDS for the publisher
+# while the policy container runs rclpy on FastDDS (image default). This
+# validates cross-vendor DDS interop for /cmd_vel TwistStamped delivery —
+# useful for anyone bringing a CycloneDDS-based ROS publisher to a policy
+# container running on FastDDS.
+#
+# Usage: ./run_shuttle_publisher_cyclonedds.sh [extra args]
+set -e
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+cd "$SCRIPT_DIR/.."
+
+docker compose -f compose.yaml run --rm --entrypoint='' \
+    -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \
+    inference-ros \
+    bash -c "source /opt/ros/jazzy/setup.bash && \
+      python3 -u /opt/holosoma-src/demo_scripts/ros2_velocity_publisher.py \
+        --pattern shuttle \
+        --other-topic holosoma/state_input \
+        $*" \
+    "$@"
diff --git a/docker/thor/scripts/run_wbt_joystick.sh b/docker/thor/scripts/run_wbt_joystick.sh
new file mode 100755
index 000000000..42a12f14a
--- /dev/null
+++ b/docker/thor/scripts/run_wbt_joystick.sh
@@ -0,0 +1,17 @@
+#!/bin/bash
+# Launch holosoma-thor-inference with WBT (whole-body tracking) policy,
+# joystick velocity + joystick state.
+#
+# Policy: g1-29dof-wbt.
+#
+# Usage: ./run_wbt_joystick.sh [extra args for run_policy.py]
+set -e
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+cd "$SCRIPT_DIR/.."
+
+docker compose -f compose.yaml run --rm inference \
+    inference:g1-29dof-wbt \
+    --task.use-joystick \
+    --task.interface eth0 \
+    "$@"