To set up docker:

FIRST: Check the docker-compose.yml, and comment out lines that have comments "#added LINUX" if you are not on a linux system. For reference, the compose should for Arch linux x86-64 with Wayland. I'm not sure if there are differences with ubuntu. The changes made are related to wayland/x11 functionality, so ubuntu Wayland should work the same, but no clue if WSL even includes x11/wayland.

From the main directory (docker_miniproject): THEN RUN:

echo -e "USER_UID=$(id -u $USER)\nUSER_GID=$(id -g $USER)" > mia_hand_ros2_pkgs/docker-deployment/.env

For Linux Wayland, also run:

echo "XAUTHORITY=${XAUTHORITY:-$HOME/.Xauthority}" >> mia_hand_ros2_pkgs/docker-deployment/.env

THEN cd to the docker-deployment directory:

cd mia_hand_ros2_pkgs/docker-deployment

THEN to build the simulation:

scene=custom docker compose run --build --rm miahand_mujoco

It will show a wrong simulation for some reason. So, use ctrl+c to stop the sim, type "exit" to leave the container shell, and then run the container again (without "--build"):

scene=custom docker compose run --rm miahand_mujoco

Now it should show the simulation with the hand and a red ball in front of it.

THEN in a different terminal (also in docker-deployment folder), to start grasp script run:

docker compose run --build --rm miahand_ros2

and in the shell run:

cd src/dev/grasp_preshaping && cargo run -r -- --mode ros --pointcloud-topic /segmented_object_cloud --pointcloud-scale 1.0 --iterations 1 --publish-commands --command-backend pos_ff

Multiview: The multiview system presumes launch on the Nvidia Jetson, and is not containerized-- This will be harder to set up to run on your own systems. For using the launch script in the multiview folder, change the directory path in the .sh file as: RVIZ_CONFIG.