FROM osrf/ros:humble-desktop-full

RUN apt-get -y update
RUN apt-get -y upgrade
RUN apt-get -y install ros-humble-ur ros-humble-ros2controlcli nmap neovim tmux git nano iproute2 inetutils-ping python3-pip
RUN pip install numpy==1.22.4 scipy==1.7.3 spatialmath-python roboticstoolbox-python osc4py3