update Dockerfiles

docker/eigenpy/Dockerfile

-ARG UBUNTU=focal
-FROM ubuntu:$UBUNTU
+FROM ubuntu:focal
 
-ENV DEBIAN_FRONTEND=noninteractive CTEST_OUTPUT_ON_FAILURE=true
+ENV CTEST_OUTPUT_ON_FAILURE=true
 
 RUN apt-get update -y \
- && apt-get install -y \
+ && DEBIAN_FRONTEND=noninteractive apt-get install -y \
     build-essential \
     cmake \
+    git \
     libboost-all-dev \
     libeigen3-dev \
     python3-numpy \
+    python-is-python3 \
  && rm -rf /var/lib/apt/lists/*
 
-ARG EIGENPY=2.2.2
+ARG EIGENPY=2.6.4
 
 ADD https://github.com/stack-of-tasks/eigenpy/releases/download/v${EIGENPY}/eigenpy-${EIGENPY}.tar.gz /
 RUN tar xf /eigenpy-${EIGENPY}.tar.gz

docker/pinocchio/Dockerfile

-ARG UBUNTU=bionic
-FROM ubuntu:$UBUNTU
+FROM ubuntu:focal
 
 # Setup Robotpkg apt binary repository
-ARG UBUNTU=bionic
-ENV UBUNTU=$UBUNTU
-RUN apt-get update -y && apt-get install -y \
+ADD http://robotpkg.openrobots.org/packages/debian/robotpkg.key /
+RUN --mount=type=cache,sharing=locked,target=/var/cache/apt --mount=type=cache,sharing=locked,target=/var/lib/apt \
+    apt-get update -qqy && DEBIAN_FRONTEND=noninteractive apt-get install -qqy gnupg2 \
+ && apt-key add /robotpkg.key \
+ && echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub focal robotpkg\n" \
+         "deb [arch=amd64] http://robotpkg.openrobots.org/wip/packages/debian/pub focal robotpkg\n" \
+ >> /etc/apt/sources.list.d/robotpkg.list
+
+# get Pinocchio dependencies
+RUN --mount=type=cache,sharing=locked,target=/var/cache/apt --mount=type=cache,sharing=locked,target=/var/lib/apt \
+    apt-get update -qqy && DEBIAN_FRONTEND=noninteractive apt-get install -qqy \
     build-essential \
+    ccache \
     cmake \
-    curl \
     git \
- && echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $UBUNTU robotpkg" \
- >> /etc/apt/sources.list.d/robotpkg.list \
- && echo "deb [arch=amd64] http://robotpkg.openrobots.org/wip/packages/debian/pub $UBUNTU robotpkg" \
- >> /etc/apt/sources.list.d/robotpkg.list \
- && curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | apt-key add - \
- && rm -rf /var/lib/apt/lists/*
-
-ENV ROBOTPKG_BASE=/opt/openrobots
-ENV CMAKE_PREFIX_PATH=$ROBOTPKG_BASE:$CMAKE_PREFIX_PATH \
-      LD_LIBRARY_PATH=$ROBOTPKG_BASE/lib:$ROBOTPKG_BASE/lib/plugin:$LD_LIBRARY_PATH \
-                 PATH=$ROBOTPKG_BASE/bin:$ROBOTPKG_BASE/sbin:$PATH \
-      PKG_CONFIG_PATH=$ROBOTPKG_BASE/lib/pkgconfig:$PKG_CONFIG_PATH \
-     ROS_PACKAGE_PATH=$ROBOTPKG_BASE/share:$ROS_PACKAGE_PATH
-
-# get Pinocchio dependencies
-ARG PYTHON=python3
-ENV PYTHON=$PYTHON
-RUN apt-get update -y \
- && apt-get install -y \
-    $(echo $PYTHON | sed 's/2//') \
- && apt-get install -y \
     libeigen3-dev \
     liburdfdom-dev \
     libtinyxml-dev \
-    robotpkg-hpp-fcl \
-    robotpkg-py$($PYTHON -V 2>&1 | sed 's/.*\([23]\)\.\([0-9]\).*/\1\2/')-eigenpy \
- && rm -rf /var/lib/apt/lists/*
+    python-is-python3 \
+    robotpkg-cppadcodegen \
+    robotpkg-py38-casadi \
+    robotpkg-py38-hpp-fcl
+
+# Configure python path
+RUN echo "/opt/openrobots/lib/python3.8/site-packages" >> /usr/lib/python3/dist-packages/robotpkg.pth
 
 # (in)validate docker build cache with the HTTP "Last-Modified" header from github
-ARG NAMESPACE=stack-of-tasks
+ARG ORG=stack-of-tasks
 ARG BRANCH=devel
-ADD https://github.com/$NAMESPACE/pinocchio/archive/$BRANCH.zip .
+ADD https://api.github.com/repos/${ORG}/pinocchio/commits/${BRANCH} .
 
-# but this zip doesn't come with .git nor submodules
-RUN git clone --recursive --branch $BRANCH https://github.com/$NAMESPACE/pinocchio.git
+RUN git clone --recursive --branch $BRANCH -j4 https://github.com/$ORG/pinocchio.git
 
 WORKDIR /pinocchio/build
 ARG MAKE_JOBS=1
-ENV CTEST_PARALLEL_LEVEL=$MAKE_JOBS CTEST_OUTPUT_ON_FAILURE=true
-RUN cmake -DPYTHON_EXECUTABLE=$(which $PYTHON) .. \
- && make -j$MAKE_JOBS \
- && make test \
- && make install
+ENV CCACHE_DIR=/ccache CMAKE_PREFIX_PATH=/opt/openrobots \
+    CTEST_PARALLEL_LEVEL=$MAKE_JOBS CTEST_OUTPUT_ON_FAILURE=true
 
-ENV PYTHONPATH=/usr/local/lib/python3/dist-packages/
+RUN --mount=type=cache,target=/ccache cmake -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+                                            -DBUILD_ADVANCED_TESTING=ON \
+                                            -DBUILD_BENCHMARK=ON \
+                                            -DBUILD_UTILS=ON \
+                                            -DBUILD_WITH_AUTODIFF_SUPPORT=ON \
+                                            -DBUILD_WITH_CASADI_SUPPORT=ON \
+                                            -DBUILD_WITH_CODEGEN_SUPPORT=ON \
+                                            -DBUILD_WITH_COLLISION_SUPPORT=ON \
+                                            -DBUILD_WITH_OPENMP_SUPPORT=ON \
+                                            -DLINK_PYTHON_INTERFACE_TO_OPENM=ON \
+                                            ..
+RUN --mount=type=cache,target=/ccache make -sj$MAKE_JOBS
+RUN make test
+RUN make install

docker/vnc/Dockerfile

-ARG IMAGE=ubuntu:20.04
-FROM $IMAGE
+FROM ubuntu:focal
 
-RUN apt-get update -qqy \
- && DEBIAN_FRONTEND=noninteractive apt-get install -qqy \
+RUN --mount=type=cache,sharing=locked,target=/var/cache/apt --mount=type=cache,sharing=locked,target=/var/lib/apt \
+    apt-get update -qqy && DEBIAN_FRONTEND=noninteractive apt-get install -qqy \
     git \
     mesa-utils \
     net-tools \
@@ -11,16 +10,13 @@ RUN apt-get update -qqy \
     tigervnc-xorg-extension \
     terminator \
     x11-apps \
-    xfce4 \
-    sudo \
- && rm -rf /var/lib/apt/lists/*
+    xfce4
 
 EXPOSE 5901
 
-RUN useradd -m user \
- && echo "user ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers \
- && chmod 777 /usr/share/novnc/utils
+RUN chmod 777 /usr/share/novnc/utils
 
+RUN useradd -m user
 USER user
-ADD docker-vnc /usr/local/bin
+ADD --chown=user docker-vnc /usr/local/bin
 CMD docker-vnc