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I have tested Webots headless mode in docker as described here in Ubuntu 20.04.
In the headless mode, if we make gpus available to the docker container as follows
This seems to launch Webots without GPUs (hardware acceleration). This is, to my knowledge, because xvfb will use software acceleration.
I believe that GPUs will speed up the simulations for cameras and video recordings, so in that case, I'd like to use GPUs in the headless.
This is the output with xvfb-run webots....
You can see that Webots warns that the system is below minimum. With GUI + GPU in docker, I don't get warnings or it runs nearly as fast as a native installation.
Are there any ways of using hardware acceleration in the headless mode?
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