Fix/stretch4 sim mujoco

[hello-jkoubi]

This PR fixes stretch4_mujoco setup with Docker.

[rashintu]

@hello-jkoubi
I tried pulling your PR and building docker image.

Docker build fails at setup.bash — robosuite not installed before robocasa setup_macros.py
> ModuleNotFoundError: No module named 'robosuite'
Tested on g4dn.2xlarge with Ubuntu 24.04 and NVIDIA 580 driver.

am I missing something?

[hello-jkoubi]

Yes @rashintu, you're not missing anything. The issue is that the Dockerfile currently clones the main branch of stretch4_ros2, so my PR changes to stretch_mujoco_driver/setup.bash are not being pulled into the Docker build.

To work around this and test the PR before it is merged, could you add the following section to the Dockerfile immediately before the Mujoco driver installation step?

#-------JUST FOR TESTING ---------
COPY stretch_mujoco_driver/setup.bash \
    /root/ament_ws/src/stretch4_ros2/stretch_simulation/stretch_mujoco_driver/setup.bash

RUN chmod +x /root/ament_ws/src/stretch4_ros2/stretch_simulation/stretch_mujoco_driver/setup.bash
#-------JUST FOR TESTING ---------

The final section should look like:

#-------JUST FOR TESTING ---------
COPY stretch_mujoco_driver/setup.bash \
    /root/ament_ws/src/stretch4_ros2/stretch_simulation/stretch_mujoco_driver/setup.bash

RUN chmod +x /root/ament_ws/src/stretch4_ros2/stretch_simulation/stretch_mujoco_driver/setup.bash
#-------JUST FOR TESTING ---------

RUN /bin/bash -c "source ~/ament_ws/install/setup.bash && \
    echo 'y' | bash ~/ament_ws/src/stretch4_ros2/stretch_simulation/stretch_mujoco_driver/setup.bash"

This should replace the version of setup.bash that gets cloned from main with the version from the PR and allow the build to continue past the robosuite installation issue.

Please let me know if this resolves the problem.