dockerfile sufficess for basic functionality, now i need to figure out how to...

dockerfile sufficess for basic functionality, now i need to figure out how to expose meshcat ports and how to open up matplotlib windows.

Dockerfile

@@ -5,7 +5,19 @@ WORKDIR /usr/local/ur_simple_control
 COPY . .
 
 RUN apt update && apt upgrade
+RUN apt install -y python3  \
+                python3-pip
+
+# this is enough to run clik
+RUN pip install -e ./python/
+RUN pip install pin matplotlib meshcat ur_rtde \
+                qpsolvers ecos
 
 # open up meshcat ports
 # make this a range
+# TODO: figure out how to actually expose meshcat,
+# this isn't enough
 EXPOSE 7000
+
+# TODO: figure out what's needed to be able to open
+# matplotlib windows!

TODOS_2024_09_19

@@ -21,7 +21,8 @@ goal 2: clean up the code
 1. do all reading and updating into the local class in the step() function --> remove the rest
 2. fix logging a bit (add a function which combines logs of different runs 
                       of a 'session' or at least names all logs in a run)
-3. stop asap
+3. stop doing minor bs asap
+4. merge to main
 
 then finish goal 2 by making the docs & tutorialss
 

docs/pinocchio.md

@@ -14,3 +14,9 @@ and calculating jacobian functions, and do ther rest of the math with eigen or n
 # how to learn how to use pinocchio?
 follow exercises and tutorials from the pinocchio documentation webiste, play around with it in ipython3 (a nicer
 shell than plain python, install with sudo apt-get install ipython3)
+
+## NOTE
+--------
+if using own compilation of pinocchio, make sure you compile with mpi 
+and whatever else is needed to run algorithms in parallel.
+you won't be able to run in 500Hz otherwise