Add bash scripts for building and running docker from terminal (#17)

* added PARALLEL_JOBS RAM usage table and Docker helper scripts info

* added relative path of workspace

* scripts: move docker run script into docker/, update HOST_WS and simplify entrypoint

* Updated README with Docker build/launch instructions; cleaned up comments and spacing

* Added a newline at the end of bash scripts

Author: moavia90

README.md

@@ -44,14 +44,30 @@ git submodule update --init --recursive
 The project supports both Dockerized workspaces (recommended) or a local installation for developing and running the humanoid MPC. 
 
 <details>
-<summary>Dockerized Workspace</summary>
+<summary>Build & run Dockerized workspace in VS Code</summary>
 
-We provide a [Dockerfile](https://github.com/manumerous/wb_humanoid_mpc/blob/main/docker/Dockerfile) to enable running and devloping the project from a containerized environment. Check out the [devcontainer.json](https://github.com/manumerous/wb_humanoid_mpc/blob/main/.devcontainer/devcontainer.json) for the arguments that must be supplied to the `docker build` and `docker run` commands. 
+We provide a [Dockerfile](https://github.com/manumerous/wb_humanoid_mpc/blob/main/docker/Dockerfile) to enable running and devloping the project from a containerized environment. Check out the [devcontainer.json](https://github.com/manumerous/wb_humanoid_mpc/blob/main/.devcontainer/devcontainer.json) for the arguments that must be supplied to the `docker build` and `docker run` commands.
 
 For working in **Visual Studio Code**, we recommend to install the [Dev Containers](https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers) extension. Then, with the root of this repository as the root of your VS Code workspace, enter `Ctrl + Shift + P` and select `Dev Containers: Rebuild and Reopen in Container` at the top of the screen. VS Code will then automatically handle calling the `docker build` and `docker run` commands for you and will reopen the window at the root of the containerized workspace. Once this step is completed, you are ready to [build and run the code](https://github.com/manumerous/wb_humanoid_mpc/tree/main?tab=readme-ov-file#building-the-mpc).
 
 </details>
 
+<details>
+<summary> Build & run Dockerized workspace with bash scripts</summary>
+
+This repository includes two helper scripts: `image_build.bash` builds the `wb-humanoid-mpc:dev` Docker image using the arguments defined in `devcontainer.json`. `launch_wb_mpc.bash` starts the Docker container, mounts your workspace, and drops you into a bash shell ready to build and run the WB Humanoid MPC code. Example of building docker image:
+```
+cd /path/to/humanoid_mpc_ws/src/wb_humanoid_mpc/docker
+./image_build.bash
+```
+and launching the docker container:
+```
+cd /path/to/humanoid_mpc_ws/src/wb_humanoid_mpc/docker
+./launch_wb_mpc.bash
+```
+
+</details>
+
 <details>
 <summary>Install Dependencies Locally</summary>
 
@@ -65,6 +81,7 @@ envsubst < dependencies.txt | xargs sudo apt install -y
 ```
 </details>
 
+
 ### Building the MPC 
 
 Building the WB MPC consumes a significant amount of RAM. We recommend saving all open work before starting the first build. The RAM usage can be adjusted by setting the PARALLEL_JOBS environment variable. Our recommendation is:

docker/image_build.bash

@@ -0,0 +1,41 @@
+#!/usr/bin/env bash
+#
+# Usage:
+#
+# $ cd ~/your_colcon_ws/src/wb_humanoid_mpc/docker
+# $ ./image_build.bash     # Build the WB Humanoid MPC Docker image
+#
+# (Cross reference this file with the "build" section of ../.devcontainer/devcontainer.json)
+#
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+DOCKERFILE="${SCRIPT_DIR}/Dockerfile"
+CONTEXT="${SCRIPT_DIR}/.."
+TARGET="base"
+
+
+: "# Workspace directory inside container"
+WB_HUMANOID_MPC_DIR="/wb_humanoid_mpc_ws"
+PYTHON_VERSION="3.12"
+USER_ID="$(id -u)"
+GROUP_ID="$(id -g)"
+GIT_USER_NAME="$(git config --global user.name || echo '')"
+GIT_USER_EMAIL="$(git config --global user.email || echo '')"
+
+IMAGE_TAG="wb-humanoid-mpc:dev"
+
+docker build \
+  --file "${DOCKERFILE}" \
+  --target "${TARGET}" \
+  --build-arg WB_HUMANOID_MPC_DIR="${WB_HUMANOID_MPC_DIR}" \
+  --build-arg PYTHON_VERSION="${PYTHON_VERSION}" \
+  --build-arg USER_ID="${USER_ID}" \
+  --build-arg GROUP_ID="${GROUP_ID}" \
+  --build-arg GIT_USER_NAME="${GIT_USER_NAME}" \
+  --build-arg GIT_USER_EMAIL="${GIT_USER_EMAIL}" \
+  --tag "${IMAGE_TAG}" \
+  "${CONTEXT}"
+
+echo "Built image: ${IMAGE_TAG}"
+

docker/launch_wb_mpc.bash

@@ -0,0 +1,46 @@
+#!/usr/bin/env bash
+#
+# Usage:
+#
+# $ cd ~/your_colcon_ws/src/wb_humanoid_mpc/docker
+# $ ./launch_wb_mpc.bash    # Launch the WB Humanoid MPC Docker container
+#
+# (Cross reference this file with the "run" section of ../.devcontainer/devcontainer.json)
+#
+set -euo pipefail
+
+# Allow GUI applications
+xhost +SI:localuser:root
+
+# Generate Xauthority file for X11 forwarding
+XAUTH=/tmp/.docker.xauth
+if [ ! -f "${XAUTH}" ]; then
+  touch "${XAUTH}"
+  xauth nlist "${DISPLAY}" \
+    | sed -e 's/^..../ffff/' \
+    | xauth -f "${XAUTH}" nmerge -
+  chmod a+r "${XAUTH}"
+fi
+
+# ROOT_COLCON_WS 
+HOST_WS="$(realpath "${PWD}/../../..")"
+
+# Run the container, mounting the entire workspace
+docker run --rm -it \
+  --name wb-mpc-dev \
+  --net host \
+  --privileged \
+  -u root \
+  -e DISPLAY \
+  -e QT_X11_NO_MITSHM=1 \
+  -e XAUTHORITY="${XAUTH}" \
+  -e XDG_RUNTIME_DIR="${XDG_RUNTIME_DIR:-/tmp}" \
+  -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
+  -v "${XAUTH}:${XAUTH}:rw" \
+  -v "${HOST_WS}:/wb_humanoid_mpc_ws:cached" \
+  --workdir /wb_humanoid_mpc_ws \
+  wb-humanoid-mpc:dev \
+  bash
+
+echo "Done."
+