Dockerfile

FROM ubuntu:18.04

RUN apt-get update -q && \
	export DEBIAN_FRONTEND=noninteractive && \
    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 mkdir -p /shared /opt

COPY ./download/CoppeliaSim_Edu_V4_1_0_Ubuntu18_04.tar.xz /opt/
RUN tar -xf /opt/CoppeliaSim_Edu_V4_1_0_Ubuntu18_04.tar.xz -C /opt && \
    rm /opt/CoppeliaSim_Edu_V4_1_0_Ubuntu18_04.tar.xz

ENV COPPELIASIM_ROOT_DIR=/opt/CoppeliaSim_Edu_V4_1_0_Ubuntu18_04
ENV LD_LIBRARY_PATH=$COPPELIASIM_ROOT_DIR:$LD_LIBRARY_PATH
ENV PATH=$COPPELIASIM_ROOT_DIR:$PATH

RUN echo '#!/bin/bash\ncd $COPPELIASIM_ROOT_DIR\n/usr/bin/xvfb-run --server-args "-ac -screen 0, 1024x1024x24" coppeliaSim "$@"' > /entrypoint && chmod a+x /entrypoint
EXPOSE 19997
ENTRYPOINT ["/entrypoint"]