services:
  sim_dev:
    image: sim_dev:gz_harmonic
    container_name: sim_dev_container
    volumes:
      - ~/simulation_ws:/simulation_ws
      - /tmp/.X11-unix:/tmp/.X11-unix
      - /mnt/wslg:/mnt/wslg
      - /usr/lib/wsl:/usr/lib/wsl
    environment:
      - DISPLAY=${DISPLAY}
      - WAYLAND_DISPLAY=${WAYLAND_DISPLAY}
      - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
      - PULSE_SERVER=${PULSE_SERVER}
    devices:
      - /dev/dxg
      - /dev/dri/card0
      - /dev/dri/renderD128