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]