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All these things take steps to complete. The hardest part is the first steps...as in taking them at all.
It was looking for a few years there like we might not take any more steps. Thus the news of private ventures to mine asteroids seems important, as some of that tech well make other steps even more viable as, not only will the techology have been proven by the mining ventures, but the materials will be easier to get for contruction projects. You'd just need to get the machines to build things into Orbit (and then maybe to the Moon or Mars were there is at least some gravity) because the materials can be delivered much cheaper than if they were forced to send them form Earth all the time.
As for gravity in your "biodome". The human body seems to be able to adapt to low gravity, and perhaps with some training slightly higher gravity. It just has massive problems with zero gravity. It is likely those who would live on Mars might never be able to live on Earth again for long periods of time (or at least not without some time to prepare), as Mars gravity is a little over a third of Earth's gravity. Those on the Moon more so as it is only around a sixth of Earths gravity. But that is more than anything they got on the ISS or any present day spacecraft.
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