anchor.diff:      software-properties-common \
       && rm -rf /var/lib/apt/lists/*
   
  -# Install dependencies
  +# Install DART dependencies
   RUN apt-get update \
       && apt-get -y install --no-install-recommends \
       libeigen3-dev \
  
positive.code:     libopenscenegraph-dev \
      && rm -rf /var/lib/apt/lists/*
  
  # Compile and install DART and dartpy
  COPY . /opt/dart
  WORKDIR /opt/dart
  
negative.code:     -DCMAKE_BUILD_TYPE=Release .. \
      -DBUILD_SHARED_LIBS=ON \
      -DDART_BUILD_DARTPY=ON \
      && make \
      && make install \
      && make dartpy \
      && make install-dartpy
  
  # Install python dependencies
  RUN python3 -m pip install\
      numpy
  
  WORKDIR "/"
  