fix: Support Isaac Sim WebRTC streaming by installing libxrandr2

Full error message:

```
[Error] [carb] [Plugin: libcarb.livestream-rtc.plugin.so] Could not load the dynamic library from /usr/local/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.streamsdk.plugins-4.5.3+106.0.0.lx64.r/bin/libcarb.livestream-rtc.plugin.so. Error: libXrandr.so.2: cannot open shared object file: No such file or directory (Additional information may be available by running the process with the LD_DEBUG environment variable set)
[Warning] [carb] Potential plugin preload failed: /usr/local/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.streamsdk.plugins-4.5.3+106.0.0.lx64.r/bin/libcarb.livestream-rtc.plugin.so
[Error] [omni.ext.plugin] [ext: omni.kit.livestream.webrtc-4.1.1] failed to load native plugin: /usr/local/lib/python3.10/site-packages/isaacsim/extscache/omni.kit.streamsdk.plugins-4.5.3+106.0.0.lx64.r/bin/libcarb.livestream-rtc.plugin.so
Warning: Possible version incompatibility. Attempting to load carb::cudainterop::CudaInterop with version v0.13 against v0.11.
[Error] [omni.kit.livestream.plugin] Streaming server is not initialized and can't be enabled or disabled.
```

Ref: https://github.com/j3soon/docker-isaac-sim

aloha_ws/docker/Dockerfile

@@ -120,6 +120,11 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
     fi
+# Install `libxrandr2` to support Isaac Sim WebRTC streaming
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    libxrandr2 \
+    && rm -rf /var/lib/apt/lists/*
 
 # Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
 RUN pip install scipy==1.14.1 numpy==1.26.0

cartographer_ws/docker/Dockerfile

@@ -122,6 +122,11 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
     fi
+# Install `libxrandr2` to support Isaac Sim WebRTC streaming
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    libxrandr2 \
+    && rm -rf /var/lib/apt/lists/*
 
 # Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
 RUN pip install scipy==1.14.1 numpy==1.26.0

gazebo_world_ws/docker/Dockerfile

@@ -122,6 +122,11 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
     fi
+# Install `libxrandr2` to support Isaac Sim WebRTC streaming
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    libxrandr2 \
+    && rm -rf /var/lib/apt/lists/*
 
 # Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
 RUN pip install scipy==1.14.1 numpy==1.26.0

husky_ws/docker/Dockerfile

@@ -122,6 +122,11 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
     fi
+# Install `libxrandr2` to support Isaac Sim WebRTC streaming
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    libxrandr2 \
+    && rm -rf /var/lib/apt/lists/*
 
 # Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
 RUN pip install scipy==1.14.1 numpy==1.26.0

kobuki_ws/docker/Dockerfile

@@ -122,6 +122,11 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
     fi
+# Install `libxrandr2` to support Isaac Sim WebRTC streaming
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    libxrandr2 \
+    && rm -rf /var/lib/apt/lists/*
 
 # Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
 RUN pip install scipy==1.14.1 numpy==1.26.0

orbslam3_ws/docker/Dockerfile

@@ -122,6 +122,11 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
     fi
+# Install `libxrandr2` to support Isaac Sim WebRTC streaming
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    libxrandr2 \
+    && rm -rf /var/lib/apt/lists/*
 
 # Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
 RUN pip install scipy==1.14.1 numpy==1.26.0

rtabmap_ws/docker/Dockerfile

@@ -125,6 +125,11 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
     fi
+# Install `libxrandr2` to support Isaac Sim WebRTC streaming
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    libxrandr2 \
+    && rm -rf /var/lib/apt/lists/*
 
 # Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
 RUN pip install scipy==1.14.1 numpy==1.26.0

template_ws/docker/Dockerfile

@@ -120,6 +120,11 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
     fi
+# Install `libxrandr2` to support Isaac Sim WebRTC streaming
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    libxrandr2 \
+    && rm -rf /var/lib/apt/lists/*
 
 # Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
 RUN pip install scipy==1.14.1 numpy==1.26.0

tests/diff_base/docker/Dockerfile

@@ -120,6 +120,11 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
     fi
+# Install `libxrandr2` to support Isaac Sim WebRTC streaming
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    libxrandr2 \
+    && rm -rf /var/lib/apt/lists/*
 
 # Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
 RUN pip install scipy==1.14.1 numpy==1.26.0

turtlebot3_ws/docker/Dockerfile

@@ -120,6 +120,11 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
     fi
+# Install `libxrandr2` to support Isaac Sim WebRTC streaming
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    libxrandr2 \
+    && rm -rf /var/lib/apt/lists/*
 
 # Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
 RUN pip install scipy==1.14.1 numpy==1.26.0

vlp_ws/docker/Dockerfile

@@ -122,6 +122,11 @@ RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
     fi
+# Install `libxrandr2` to support Isaac Sim WebRTC streaming
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    libxrandr2 \
+    && rm -rf /var/lib/apt/lists/*
 
 # Fix SciPy (in base image) incompatibility with NumPy version (in Isaac Sim) `numpy==1.26.0`.
 RUN pip install scipy==1.14.1 numpy==1.26.0