In the root directory of this repository, run the following command in a terminal to build a docker image that includes Drake (currently a prebuilt local version with added bindings) and denpendencies for PDDLStream:

$ docker build -t dirtran6881 -f ubuntu16_04.dockerfile .

In the root directory of this repository, run

$ python ./docker_run.py --os [your operating system]

where [your operating system] should be replaced with mac or linux. This command will start a docker container (virtual machine) with the docker image you have created. The PDDL_plan folder on the host machine (your laptop/desktop) is mounted to /6-881-final in the docker container.