DockerfileCopsim

FROM unifyai/ivy:latest

# CoppeliaSim #
# ------------#

# From https://github.com/CoppeliaRobotics/docker-image-coppeliasim
RUN apt-get update -q && \
    apt-get install -y wget && \
    apt-get install -y --no-install-recommends \
        vim tar xz-utils \
        libx11-6 libxcb1 libxau6 libgl1-mesa-dev \
        xvfb dbus-x11 x11-utils libxkbcommon-x11-0 \
        libavcodec-dev libavformat-dev libswscale-dev \
        && \
    apt-get autoclean -y && apt-get autoremove -y && apt-get clean && \
    rm -rf /var/lib/apt/lists/*

RUN wget https://www.coppeliarobotics.com/files/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz
RUN tar -xf CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz
RUN wget https://raw.githubusercontent.com/davidm/lua-matrix/master/lua/matrix.lua
RUN mv matrix.lua /CoppeliaSim_Edu_V4_1_0_Ubuntu20_04/lua/

ENV COPPELIASIM_ROOT="/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04"
ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$COPPELIASIM_ROOT:$COPPELIASIM_ROOT/platforms
ENV QT_QPA_PLATFORM_PLUGIN_PATH=$COPPELIASIM_ROOT
ENV PATH=$PATH:$COPPELIASIM_ROOT

ENV NVIDIA_DRIVER_CAPABILITIES compute,utility,display

# PyRep #
# ------#

RUN git clone https://github.com/stepjam/PyRep.git && \
    cd PyRep && \
    pip3 install -r requirements.txt && \
    python3 setup.py install