compose.ubuntu.yaml

services:
  monkey-zeroerr:
    build: ./
    image: "aaron/v1"
    command: /bin/bash
    # stdin_open: true
    tty: true
    environment:
      DISPLAY: $DISPLAY
    network_mode: "host"
    privileged: true
    user: "root"
    volumes:
    # ---------------------------------------------------------------------------chong's contribuition
      - ./cutting_planner:/root/ws_moveit2/src/cutting_planner
      - ./ffb_detection:/root/ws_moveit2/src/ffb_detection
      - ./segmentation_cpp:/root/ws_moveit2/src/segmentation_cpp
      - ./segmentation_interfaces:/root/ws_moveit2/src/segmentation_interfaces
    # ---------------------------------------------------------------------------kean hao's contribution
      - ./zeroerr_control_python:/root/ws_moveit2/src/zeroerr_control_python
      - ./zeroerr_controller:/root/ws_moveit2/src/zeroerr_controller
      - ./zeroerr_description:/root/ws_moveit2/src/zeroerr_description
      - ./zeroerr_interfaces:/root/ws_moveit2/src/zeroerr_interfaces
      - ./zeroerr_moveit_config:/root/ws_moveit2/src/zeroerr_moveit_config
      - ./ai_model:/root/ai_model
      - ./robot_teleop:/root/ws_moveit2/src/robot_teleop
      - /dev:/dev
      
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: 1
              capabilities: [gpu]