Feat: Pre-built Docker images for DimOS modules

[JalajShuklaSS]

Summary

Replace module-specific Dockerfiles with pre-built images hosted on GHCR for faster deployment.

Context

Currently, each Docker module (like GraspGen) has its own Dockerfile that builds from scratch. This works for development but has drawbacks:

• Long build times (15-30+ min for CUDA compilation)
• Every user rebuilds the same image
• No version control for built images intentional for the current isolation

Proposed Solution for Future Iteration

1. Create a generic DimOS base image with CPU/GPU variants:

   • ghcr.io/dimensionalos/dimos-base:cpu-py310
   • ghcr.io/dimensionalos/dimos-base:gpu-cuda128-py310

2. Pre-build module images that extend the base:

   • ghcr.io/dimensionalos/graspgen:v1.0

3. Update DockerModuleConfig to support pulling pre-built images:

   docker_image="ghcr.io/dimensionalos/graspgen:v1.0"
   docker_file=None  # No local build needed

Requirements

• Design base image variants (CPU/GPU, Python versions)
• Set up GitHub Actions CI/CD for image publishing
• Handle model checkpoints (LFS or separate download)
• Version tagging strategy
• Documentation for extending base images

Notes

This is deferred until the Docker integration stabilizes. Current Dockerfile approach is the baseline implementation.

Related PR: #1119 (GraspGen Docker integration)