# Docker GUI Forwarding

On Linux:
```sh
host +local:root
```

```sh
docker run --env DISPLAY=$DISPLAY \
--volume /tmp/.X11-unix:/tmp/.X11-unix \
--network=host \
-it ghcr.io/reazon-research/openarm:v0.3 \
/bin/bash
```

Open the MuJoCo sim at
[https://thomasonzhou.github.io/mujoco_anywhere/](https://thomasonzhou.github.io/mujoco_anywhere/)

```sh
. ~/ros2_ws/install/setup.bash && \
ros2 launch -d openarm_bimanual_moveit_config demo.launch.py hardware_type:=sim
```

# To build the latest image (v0.3)
```sh
docker build --no-cache -t ghcr.io/reazon-research/openarm:v0.3 .
```