The dockerfile is created from nvidia/opengl image for ubuntu 16.04. The librairies used by V-REP are installed. The V-REP code is downloaded from Coppelia Robotics website, here we use 3.5 version. 

<code docker vrep-openGL.Dockerfile>
FROM nvidia/opengl:1.0-glvnd-devel-ubuntu16.04

# uncomment and set with IP and PORT of proxy server if you need to pass through a proxy
# for example forIP=Proxy and PORT=8080, set docker ENV as follows:
# ENV proxy http://proxy:8080/

RUN apt-get update && apt-get install -y \
  wget \
  libglib2.0-0  \
  libgl1-mesa-glx \
  xcb \
  "^libxcb.*" \
  libx11-xcb-dev \
  libglu1-mesa-dev \
  libxrender-dev \
  libjasper-dev \
  libxi6 \
  libdbus-1-3 \
  libfontconfig1 \
  xvfb \
  && rm -rf /var/lib/apt/lists/*

RUN wget http://coppeliarobotics.com/files/V-REP_PRO_EDU_V3_5_0_Linux.tar.gz
RUN tar -xf V-REP_PRO_EDU_V3_5_0_Linux.tar.gz
RUN apt-get remove -y wget

</code>

The image is built with
<cli>
$ docker build -t vrep -f vrep-openGL.Dockerfile .
</cli>

Before executing a graphical container we need to allow X11 out put on the host with xhost command. Then we can run the container in interactive mode for debug :
<cli>
$ xhost +local:docker
$ docker run -ti   --rm -e DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix --name vrep vrep
</cli>