Enhance Docker workflow with unified mount system and improved cluster operations

[Idate96]

Summary

This PR introduces a unified mount configuration system for Docker containers and enhances cluster deployment workflows, making it easier to develop with external IsaacLab/RSL-RL installations and deploy to HPC clusters.

Key Features

1. Unified Mount Configuration System

• New mount-setup wizard for interactive configuration of external codebase mounts
• Support for mounting external IsaacLab and RSL-RL installations into containers
• Automatic generation of docker-compose.override.yaml from .mount.config
• Commands: mount-enable, mount-disable, mount-set, mount-show

2. Enhanced Cluster Operations

• Automatic mount synchronization: Local mount configurations are automatically applied on cluster
• Two mount modes:
  • Sync mode: Automatically syncs local codebase to cluster
  • Mount-only mode: Uses existing codebase on cluster without syncing
• Dynamic path expansion: Support for environment variables like $CLUSTER_USER in mount paths
• Improved argument passing: Fixed script arguments being properly passed through SSH and job schedulers

3. Developer Experience Improvements

• New run_dev.sh script for quick development container access
• --rootless flag for environments without root Docker access
• --fix-perms flag to automatically fix file ownership issues
• Better error handling and debug output for troubleshooting

4. Documentation Updates

• Comprehensive Docker setup guide with quick start section
• Detailed cluster operations guide with mount configuration examples
• Troubleshooting sections for common issues
• Migration guide from previous container setups

Usage Examples

# Configure external mounts interactively
./docker/container.sh mount-setup

# Quick development access
./docker/run_dev.sh

# Run on university PC without root
./docker/run_dev.sh --rootless

# Deploy to cluster with external mounts
cd docker/cluster
./cluster_interface.sh push ext_template
./cluster_interface.sh job ext_template --task MyTask --num_envs 32000