# install docker
sudo apt-get install docker.io
# pull docker image, need ~2GB of free disk space
sudo docker pull liuhuanjim013/openrave-wheezy# set up xauth
# based on https://gist.github.com/ompugao/ebb9cef52d50c58612d4#file-readme
XSOCK=/tmp/.X11-unix
XAUTH=/tmp/.docker.xauth
rm -f $XAUTH
touch $XAUTH
xauth nlist :0 | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
# start docker container in interactive mode
sudo docker run -t -i -v $XSOCK:$XSOCK -v $XAUTH:$XAUTH -e XAUTHORITY=$XAUTH liuhuanjim013/openrave-wheezy
# run hanoi example inside the container
export DISPLAY=:0
export QT_X11_NO_MITSHM=1
openrave.py --example hanoi