docs: readded docker documentation

Author: juelg

README.md

@@ -1,9 +1,9 @@
 # Robot Control Stack
 RCS is a unified and multilayered robot control interface over a MuJoCo simulation and real world robot currently implemented for the FR3/Panda, xArm7, UR5e and SO101.
-## Requirements
-We build and test RCS on the latest Debian and on the latest Ubuntu LTS.
 
 ## Installation
+We build and test RCS on the latest Debian and on the latest Ubuntu LTS.
+
 1. Install the system dependencies:
 ```shell
 sudo apt install $(cat debian_deps.txt)
@@ -13,11 +13,6 @@ sudo apt install $(cat debian_deps.txt)
 python3 -m venv .venv
 source .venv/bin/activate
 ``` 
-alternatively, with Conda:
-```shell
-conda create -n rcs python=3.11 # Version ensures that python is installed to the environment
-conda activate rcs
-```
 Then, install the package:
 ```shell
 pip install -r requirements_dev.txt
@@ -28,6 +23,8 @@ pip config --site set global.no-build-isolation false
 pip install -ve .
 ```
 
+For a docker deployment see the [docker](docker) folder.
+
 ## Usage
 The python package is called `rcs`.
 
@@ -126,7 +123,7 @@ python -m rcs_realsense --help
 ```
 
 ## Developer Documentation
-See our documentation page [robot-control-stack.org](https://robot-control-stack.org) for the development documentation.
+See [robot-control-stack.org](https://robot-control-stack.org) for the development documentation.
 
 
 ## Citation

docker/README.md

@@ -0,0 +1,24 @@
+# Docker (GUI + GPU + HW add-ons)
+
+**Prereqs:** Docker + docker-compose, X11 on host, NVIDIA driver + NVIDIA Container Toolkit (legacy `runtime: nvidia`).  
+**Layout:** `docker/Dockerfile`, overrides in `docker/compose/` (`base.yml`, `gui.yml`, `gpu.yml`, `hw.yml`).
+
+## Build the image
+`docker-compose -f docker/compose/base.yml build dev`
+
+## (GUI) allow X access (host)
+`export XAUTHORITY=${XAUTHORITY:-$HOME/.Xauthority}`  
+`xhost +local:docker`
+
+## Run container with GUI + GPU + HW and open a shell
+`docker-compose -f docker/compose/base.yml -f docker/compose/gui.yml -f docker/compose/gpu.yml -f docker/compose/hw.yml run --rm run bash`  
+*(Use fewer `-f` files for lighter setups, e.g., GUI+GPU without HW.)*
+
+## Inside the container
+`pip install -ve extensions/rcs_fr3`  
+`cd examples`  
+`python fr3_env_cartesian_control.py`
+
+## Troubleshooting
+- **`nvidia-smi` missing in container:** ensure it exists on host at `/usr/bin/nvidia-smi` (GPU override bind-mounts it).  
+- **GUI can’t open:** re-run the `xhost` command and confirm `$DISPLAY` is set on the host.