On a headless server, you can also run CoppeliaSim with hardware acceleration, using VirtualGL. VirtualGL is an open source toolkit that gives any Unix or Linux remote display software the ability to run OpenGL applications with full 3D hardware acceleration. First insure that you have the nVidia proprietary driver installed. I.e. you should get an output when running nvidia-smi. Now run the following commands:
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sudo apt-get install xorg libxcb-randr0-dev libxrender-dev libxkbcommon-dev libxkbcommon-x11-0 libavcodec-dev libavformat-dev libswscale-dev
sudo nvidia-xconfig -a --use-display-device=None --virtual=1280x1024
# Install VirtualGL
wget https://sourceforge.net/projects/virtualgl/files/2.5.2/virtualgl_2.5.2_amd64.deb/download -O virtualgl_2.5.2_amd64.deb
sudo dpkg -i virtualgl*.deb
rm virtualgl*.deb
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sudo reboot
nohup sudo X &
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sudo /etc/init.d/gdm3 stop
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export DISPLAY=:0.0
./coppeliaSim.sh
Special thanks to Stephen James for above instructions.