Feature/add docker instructions (#33)

* add docker instructions * adding color * Fix documentation --------- Co-authored-by: Krzysztof Wojciechowski <[email protected]>
agimus-project · Oct 4, 2024 · 1e2ef7c · 1e2ef7c
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diff --git a/README.md b/README.md
@@ -25,10 +25,19 @@ An in-depth comparison is [here](https://gepettoweb.laas.fr/articles/haffemayer2
 - [MiM Solvers](https://github.com/machines-in-motion/mim_solvers) (tag: v0.0.5) solver for the SQP and Constrained-SQP solver, and [Mim Robot](https://github.com/machines-in-motion/mim_robots/tree/main).
 
 ## Installation
+### From source
 HPP-FCL & Pinocchio must be built from sources. Build pinocchio with the flag : WITH_COLLISION_SUPPORT=ON.
 > [!NOTE]
 > Don't forget to switch to the right commits!
 
+### Using Docker
+
+You can run examples with docker with following command:
+``` bash
+docker container run -p 7000:7000 ghcr.io/agimus-project/colmpc:v0.0.2 "python colmpc/examples/simple_ocp.py --scene 1"
+```
+
+
 ### Possible issue
 - If you have a problem with ```FakeCollisionGeometry```, it is likely that the linking of Pinocchio with HPPFCL wasn't done properly. Verify that you have the right commits & the right compilation flags.
 - The main branch of HPPFCL doesn't compute well the closest points and thus, this repo needs to be built upon the devel branch. If it built but doesn't avoid collision, make sure that you didn't built the main branch.