It was 20 years ago that graphic images of torture by American soldiers at Abu Ghraib prison in Iraq circulated around the world. Today, two decades later, a trial is opening in the United States in which three former detainees are suing a private military contractor for torture. Our Iraq correspondents travelled to Abu Ghraib to speak to several former detainees who say they experienced abuse at the hands of American soldiers to hear how they feel about this long fight for justice.