Enables CloudXR OpenXR runtime container (#274)

# Description

This MR enables to run CloudXR OpenXR Runtime Container for Isaac Lab.
The main changes are:
- Added docker files to support run CloudXR OpenXR runtime container
with isaacLab container. To start both containers:
```
python docker/container.py start \
    --files docker-compose.runtime.patch.yaml \
    --env-file .env.runtime
```

## Type of change

<!-- As you go through the list, delete the ones that are not
applicable. -->

- New feature (non-breaking change which adds functionality)


## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

<!--
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putting an x character in it

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- [x] I have done this task
- [ ] I have not done this task
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---------
Co-authored-by: Yanzi Zhu <yanziz@nvidia.com>

.gitignore

@@ -60,3 +60,6 @@ _build
 
 # Pre-Trained Checkpoints
 /.pretrained_checkpoints/
+
+# Teleop Recorded Dataset
+datasets

docker/.env.cloudxr-runtime

+###
+# General settings
+###
+
+# Accept the NVIDIA Omniverse EULA by default
+ACCEPT_EULA=Y
+# NVIDIA CloudXR Runtime base image
+CLOUDXR_RUNTIME_BASE_IMAGE_ARG=nvcr.io/nvidia/cloudxr-runtime
+# NVIDIA CloudXR Runtime version to use (e.g. 0.1.0-isaac)
+CLOUDXR_RUNTIME_VERSION_ARG=0.1.0-isaac

docker/docker-compose.cloudxr-runtime.patch.yaml

+services:
+  cloudxr-runtime:
+    image: ${CLOUDXR_RUNTIME_BASE_IMAGE_ARG}:${CLOUDXR_RUNTIME_VERSION_ARG}
+    runtime: nvidia
+    ports:
+      - "48010:48010/tcp" # signaling
+      - "47998:47998/udp" # media
+      - "47999:47999/udp" # media
+      - "48000:48000/udp" # media
+      - "48005:48005/udp" # media
+      - "48008:48008/udp" # media
+      - "48012:48012/udp" # media
+    healthcheck:
+      test: ["CMD", "test", "-S", "/openxr/run/ipc_cloudxr"]
+      interval: 1s
+      timeout: 1s
+      retries: 10
+      start_period: 5s
+    environment:
+      - ACCEPT_EULA=${ACCEPT_EULA}
+      - NV_PACER_FIXED_TIME_STEP_MS=32
+    volumes:
+      - openxr-volume:/openxr:rw
+
+  isaac-lab-base:
+    runtime: nvidia
+    environment:
+      - XDG_RUNTIME_DIR=/openxr/run
+      - XR_RUNTIME_JSON=/openxr/share/openxr/1/openxr_cloudxr.json
+    volumes:
+      - openxr-volume:/openxr:rw
+    depends_on:
+        - cloudxr-runtime
+
+volumes:
+  openxr-volume:

docker/utils/container_interface.py

@@ -158,7 +158,7 @@ class ContainerInterface:
         if self.is_container_running():
             print(f"[INFO] Stopping the launched docker container '{self.container_name}'...\n")
             subprocess.run(
-                ["docker", "compose"] + self.add_yamls + self.add_profiles + self.add_env_files + ["down"],
+                ["docker", "compose"] + self.add_yamls + self.add_profiles + self.add_env_files + ["down", "--volumes"],
                 check=False,
                 cwd=self.context_dir,
                 env=self.environ,

docs/source/deployment/docker.rst

@@ -50,6 +50,9 @@ needed to run Isaac Lab inside a Docker container. A subset of these are summari
   store frequently re-used resources compiled by Isaac Sim, such as shaders, and to retain logs, data, and documents.
 * **.env.base**: Stores environment variables required for the ``base`` build process and the container itself. ``.env``
   files which end with something else (i.e. ``.env.ros2``) define these for `image extension <#isaac-lab-image-extensions>`_.
+* **docker-compose.cloudxr-runtime.patch.yaml**: A patch file that is applied to enable CloudXR Runtime support for
+  streaming to compatible XR devices. It defines services and volumes for CloudXR Runtime and the base.
+* **.env.cloudxr-runtime**: Environment variables for the CloudXR Runtime support.
 * **container.py**: A utility script that interfaces with tools in ``utils`` to configure and build the image,
   and run and interact with the container.
 
@@ -114,6 +117,23 @@ directories to the ``docker/artifacts`` directory. This is useful for copying th
     ./docker/container.py stop
 
 
+CloudXR Runtime Support
+~~~~~~~~~~~~~~~~~~~~~~~
+
+To enable CloudXR Runtime for streaming to compatible XR devices, you need to apply the patch file
+``docker-compose.cloudxr-runtime.patch.yaml`` to run CloudXR Runtime container. The patch file defines services and
+volumes for CloudXR Runtime and base. The environment variables required for CloudXR Runtime are specified in the
+``.env.cloudxr-runtime`` file. To start or stop the CloudXR runtime container with base, use the following command:
+
+.. code:: bash
+
+    # Start CloudXR Runtime container with base.
+    ./docker/container.py start --files docker-compose.cloudxr-runtime.patch.yaml --env-file .env.cloudxr-runtime
+
+    # Stop CloudXR Runtime container and base.
+    ./docker/container.py stop --files docker-compose.cloudxr-runtime.patch.yaml --env-file .env.cloudxr-runtime
+
+
 X11 forwarding
 ~~~~~~~~~~~~~~
 

scripts/environments/teleoperation/teleop_se3_agent.py

@@ -109,7 +109,8 @@ def main():
         ViewportCameraController(env, viewer)
     else:
         raise ValueError(
-            f"Invalid device interface '{args_cli.teleop_device}'. Supported: 'keyboard', 'spacemouse''handtracking'."
+            f"Invalid device interface '{args_cli.teleop_device}'. Supported: 'keyboard', 'spacemouse', 'gamepad',"
+            " 'handtracking'."
         )
 
     # add teleoperation key for env reset