feat: Run entire Manipulator demo inside docker

[mateuszwasilewski]

Purpose

This PR provides several changes to PR #641 in order to run whole demo inside docker container.

Proposed Changes

• Install missing apt packages for running demo simulation.
• Update & simplify docs

Testing

I followed commands from provided docs

1. Build docker with DEPENDENCIES=all_groups
2. Follow commands from demos/manipulation/#1-setting-up-the-demo

Important

This PR targets dm/feat/docker-image-manipulator-demo branch

[boczekbartek]

@mateuszwasilewski
I tried to build the image with:

docker build -t rai:jazzy --build-arg ROS_DISTRO=jazzy --build-arg DEPENDENCIES=all_groups -f docker/Dockerfile .

but I get such error:

Cannot install nvidia-cublas-cu12.

[boczekbartek]

@mateuszwasilewski Please mention in docs that nvidia-container-runtime is required to run demo inside docker

[boczekbartek]

I had to add:

ENV POETRY_REQUESTS_TIMEOUT=300 

to avoid this error. It was connected with pypi timeout.
Consider adding it to Dockerfile or at least to docs.