Support 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.
```

Author: j3soon

Dockerfile_isaacsim_4_0_pip

@@ -4,7 +4,7 @@ FROM python:3.10
 ENV NVIDIA_VISIBLE_DEVICES=all
 ENV NVIDIA_DRIVER_CAPABILITIES=all
 RUN apt-get update && apt-get install -y \
-    libgl1 libglu1-mesa vulkan-tools \
+    libgl1 libglu1-mesa vulkan-tools libxrandr2 \
     && rm -rf /var/lib/apt/lists/*
 RUN cat > /etc/vulkan/icd.d/nvidia_icd.json <<EOF
 {

Dockerfile_isaacsim_4_1_pip

@@ -4,7 +4,7 @@ FROM python:3.10
 ENV NVIDIA_VISIBLE_DEVICES=all
 ENV NVIDIA_DRIVER_CAPABILITIES=all
 RUN apt-get update && apt-get install -y \
-    libgl1 libglu1-mesa vulkan-tools \
+    libgl1 libglu1-mesa vulkan-tools libxrandr2 \
     && rm -rf /var/lib/apt/lists/*
 RUN cat > /etc/vulkan/icd.d/nvidia_icd.json <<EOF
 {

Dockerfile_isaacsim_4_2_pip

@@ -4,7 +4,7 @@ FROM python:3.10
 ENV NVIDIA_VISIBLE_DEVICES=all
 ENV NVIDIA_DRIVER_CAPABILITIES=all
 RUN apt-get update && apt-get install -y \
-    libgl1 libglu1-mesa vulkan-tools \
+    libgl1 libglu1-mesa vulkan-tools libxrandr2 \
     && rm -rf /var/lib/apt/lists/*
 RUN cat > /etc/vulkan/icd.d/nvidia_icd.json <<EOF
 {

Dockerfile_isaacsim_4_5_bin

@@ -4,7 +4,7 @@ FROM python:3.10
 ENV NVIDIA_VISIBLE_DEVICES=all
 ENV NVIDIA_DRIVER_CAPABILITIES=all
 RUN apt-get update && apt-get install -y \
-    libgl1 libglu1-mesa vulkan-tools \
+    libgl1 libglu1-mesa vulkan-tools libxrandr2 \
     && rm -rf /var/lib/apt/lists/*
 RUN cat > /etc/vulkan/icd.d/nvidia_icd.json <<EOF
 {

Dockerfile_isaacsim_4_5_pip

@@ -4,7 +4,7 @@ FROM python:3.10
 ENV NVIDIA_VISIBLE_DEVICES=all
 ENV NVIDIA_DRIVER_CAPABILITIES=all
 RUN apt-get update && apt-get install -y \
-    libgl1 libglu1-mesa vulkan-tools \
+    libgl1 libglu1-mesa vulkan-tools libxrandr2 \
     && rm -rf /var/lib/apt/lists/*
 RUN cat > /etc/vulkan/icd.d/nvidia_icd.json <<EOF
 {

README.md

@@ -55,10 +55,20 @@ docker run --rm -it --runtime=nvidia --gpus all --network=host \
 # in the container
 # For Isaac Sim 4.0 to 4.2, run:
 isaacsim omni.isaac.sim
-# # For Isaac Sim 4.5, run:
-# isaacsim isaacsim.exp.full
+# or WebRTC streaming:
+isaacsim omni.isaac.sim.headless.webrtc --no-window
 ```
 
+> For Isaac Sim 4.5, run the following instead:
+> 
+> ```sh
+> isaacsim isaacsim.exp.full
+> # or WebRTC streaming:
+> isaacsim isaacsim.exp.full.streaming --no-window
+> ```
+
+For WebRTC streaming usage, see [the official Docker images section](#official-docker-images) below.
+
 > The slight difference in cache directories between the official Docker image and the pip-installed version is observed by comparing the logs of the Isaac Sim instance in both environments.
 
 To test the ros2 bridge in Isaac Sim, click `Isaac Utils > Common Omnigraphs > ROS2 Clock` in the menu and click `OK`. Click the play button, and run the following in a new terminal:
@@ -109,8 +119,12 @@ docker run --rm -it --runtime=nvidia --gpus all --network=host \
   j3soon/isaac-sim-bin:${ISAAC_SIM_VERSION}
 # in the container
 ~/isaacsim/isaac-sim.sh
+# or WebRTC streaming:
+~/isaacsim/isaac-sim.streaming.sh
 ```
 
+For WebRTC streaming usage, see [the official Docker images section](#official-docker-images) below.
+
 References:
 - [Workstation Installation \| Isaac Sim](https://docs.isaacsim.omniverse.nvidia.com/4.5.0/installation/install_workstation.html)
 
@@ -134,9 +148,30 @@ docker run --name isaac-sim --entrypoint bash -it --runtime=nvidia --gpus all -e
   -v ~/docker/isaac-sim/documents:/root/Documents:rw \
   nvcr.io/nvidia/isaac-sim:4.5.0
 # in the container
-./runheadless.sh -v
+./runheadless.sh
 ```
 
+> For using WebRTC streaming, wait until the streaming is ready, you should see something like this:
+> 
+> ```
+> Isaac Sim Full Streaming App is loaded.
+> ```
+> 
+> Download and use the [Isaac Sim WebRTC Streaming Client](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/download.html#isaac-sim-latest-release) as mentioned in [the official guide](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/manual_livestream_clients.html#isaac-sim-setup-livestream-webrtc).
+> 
+> > For WebRTC streaming in Isaac Sim 4.2 and earlier, run the following command:
+> >
+> > ```sh
+> > # in the container
+> > ./runheadless.webrtc.sh
+> > ```
+> > Wait until the streaming is ready, you should see something like this:
+> > ```
+> > Isaac Sim Headless WebRTC App is loaded.
+> > ```
+> >
+> > Visit <http://127.0.0.1:8211/streaming/webrtc-demo/?server=127.0.0.1>.
+
 GUI mode:
 
 ```sh