updated README and docs

Author: Ruthrash

README.md

@@ -14,7 +14,8 @@ This repository contains scripts and off-the-shelf starter scripts for developpi
 - docker 
 - git 
 - openssh-server
-
+- nvidia-container-toolkit (look at [robot_toolkit/docs/nvidia-container-toolkit.md](robot_toolkit/docs/nvidia-container-toolkit.md) )
+- GPU with necessary Nvidia drivers (if using workstation docker)
 ```
 sudo apt-get install docker.io docker-compose git 
 ```
@@ -64,7 +65,12 @@ Build, create, and start the docker container for the workstation computer that
 **Note: it is important to pass the workstation IP address as seen by the Realtime computer here**
 ```
 docker-compose -f docker/workstation_computer/docker-compose-gui.yml build \
-                            --build-arg workstation_ip=<workstation_ip address>
+                            --build-arg workstation_ip=<workstation_ip address> \ 
+                            --build-arg use_robotiq=1 \
+                            --build-arg build_dope=1 \
+                            --build-arg build_contactgraspnet=1 \ 
+                            --build-arg build_megapose=1
+                                        
 docker-compose -f docker/workstation_computer/docker-compose-gui.yml create
 docker-compose -f docker/workstation_computer/docker-compose-gui.yml start
                                                         
@@ -208,8 +214,11 @@ python3 docker_frankapy_test.py
 
 ## Using calibration
 
-Please checkout [robot_toolkit/docs](robot_toolkit/docs) for documentations of robot camera extrinsic calibration, usage of this tool. 
+Please checkout [robot_toolkit/docs](robot_toolkit/docs) for documentations of robot camera extrinsic calibration, usage of this tool. We also have a video showing how to use our tool [here](https://drive.google.com/file/d/1VMregvZZmWaFMxj7J3FgXDaWfS2ae4tQ/view?usp=sharing)
+
+## Using Deeplearning based prediciton models 
 
+Please checkout [robot_toolkit/docs/deep_learning_models.md](robot_toolkit/docs/deep_learning_models.md) and [robot_toolkit/docs/nvidia-container-toolkit.md](robot_toolkit/docs/nvidia-container-toolkit.md) for running Neural network models with GPUs.
 
 ## Test robotiq gripper
 To run the robotiq device, first in a terminal do

robot_toolkit/docs/nvidia-container-toolkit.md

@@ -0,0 +1,23 @@
+## Description 
+
+Instructions to install nvidia-container-toolkit in Ubuntu host machines 
+
+Following instructions [here](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html)
+
+```
+curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
+  && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
+    sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
+    sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
+```
+
+```
+sudo apt-get update && sudo apt-get install -y nvidia-container-toolkit
+```
+
+```
+sudo nvidia-ctk runtime configure --runtime=docker
+```
+```
+sudo systemctl restart docker
+```