Split docker image structure

[geurto]

Summary

Now that more and more features are being added to our Docker image, its size grows steadily. Sometimes, not all of these features are needed -- e.g., when using the Panther as a wheeled robot, there is no need to have Graspnet installed on the image.

Therefore, it is worth thinking about how to structure our Docker images. This could mean a more modular approach with a base image and various flavours of images on top (e.g. arm, base, vision, LiDAR, etc.).

Motivation

Make our system more modular and have less dependencies in our system.

DoD

• Build separate Franka, Panther and simulation docker images
• Check if we want to change to root user by default
• Start simulation with Franka
• Start simulation with Panther
• Start simulation with Franka and Panther
• Start Franka in real situations
• Start Panther in real situations
• Documentation is up-to-date
• When this works well, create follow-up issues including sensors and Lynx, tests, Github workflow and platform combinations in real situations
• Confirm if blocking issues are solved