init commit

2026-02-11 17:54:06 +03:00
commit c15a3552ae
18 changed files with 1593 additions and 0 deletions
@@ -0,0 +1,23 @@
+services:
+  sim_dev:
+    image: sim_dev:gz_harmonic
+    container_name: sim_dev_container
+    runtime: nvidia  # 启用 NVIDIA GPU 支持
+    stdin_open: true  # 保持标准输入打开
+    tty: true         # 分配一个伪终端
+    privileged: true  # 特权模式，允许访问所有 /dev 设备
+    ports:
+      - 2222:22     # ssh server
+    environment:
+      - DISPLAY=${DISPLAY}
+      - NVIDIA_DRIVER_CAPABILITIES=all
+    volumes:
+      - /dev/dri:/dev/dri
+      - ${HOST_WS}:/workspace
+      - ${DATASET}:/dataset
+      - /tmp/.X11-unix:/tmp/.X11-unix
+    deploy:
+      resources:
+        reservations:
+          devices:
+          - capabilities: [gpu]