feat: mani demo docker

[jmatejcz]

Purpose

Update base dockerfile
Add dockerfile for manipulation demo

Proposed Changes

• Base Dockerfile is slightly refactored adding some env variables that make logs cleaner. It also now uses caches to speed up following builds.
• Add Manipulation demo dockerfile which runs whole demo
• Added back script that downloads weights, so that user do not wait couple mins with waiting for services.... (not sure about this though)
• Changed commands to run. Docker no longer shares network with host, which led to bugs when 2 containers were run in the same network

Issues

• Links to relevant issues

Testing

• How was it tested, what were the results?