VoxPoser Docker image

Building

Use docker build as usual, or use the provided script:

Check build.sh for detailed information as you need to download CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz and place it in ./download.

docker build --rm -f Dockerfile -t voxposer:ubuntu20-v1 .

Running

pull docker image:

docker pull siky47/embodied-ai:voxposer-ubuntu20

For Linux Environment

Use docker run as usual.

The provided script run.sh sets some useful parameters, such as sharing the shared directory, and forwarding the RemoteAPI port.

Check run.sh for detailed information.

sudo docker run --rm -v $HOME/Data:/shared -p 23000-23500:23000-23500 -p 6060:80 -it --env DISPLAY=$DISPLAY --env LIBGL_ALWAYS_SOFTWARE=1 --volume /tmp/.X11-unix:/tmp/.X11-unix --name vox siky47/embodied-ai:voxposer-ubuntu20

If you have add $USER to the docker group (which means you can run docker without sudo) than try following command

docker run --privileged --rm -v $HOME/Data:/shared -p 23000-23500:23000-23500 -p 6060:80 -it --env DISPLAY=$DISPLAY --env LIBGL_ALWAYS_SOFTWARE=1 --volume /tmp/.X11-unix:/tmp/.X11-unix --name vox siky47/embodied-ai:voxposer-ubuntu20

Command above would allow the GUI application in docker container connect to the X server running on the host machine while remember run sudo xhost + command in your host machine before launching GUI applications in container.

For Windows Subsystem for Linux GUI (WSLg)

Try following command

docker run --rm -v $HOME/Data:/shared -p 23000-23500:23000-23500 -p 7777:80 -it --env DISPLAY=$DISPLAY -e WAYLAND_DISPLAY=$WAYLAND_DISPLAY -e XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR -e PULSE_SERVER=$PULSE_SERVER --env LIBGL_ALWAYS_SOFTWARE=1 --volume /tmp/.X11-unix:/tmp/.X11-unix -v /mnt/wslg:/mnt/wslg --name vox siky47/embodied-ai:voxposer-ubuntu20

reference: Containerizing GUI applications with WSLg

Credits

Thanks to Salvatore Sessa for initially getting CoppeliaSim to work under docker.