Update dependencies for docker image

[ghost]

This PR updates the dependencies in the docker image as follows:

UBUNTU 18.04 -> 22.04
CUDA_VER 11.6 -> 11.8
PY_VER 3.8 -> 3.10
MMCV_VER 1.6.1 -> 1.7.0
TORCH_VER 1.12.1 -> 2.0.1
TORCHV_VER 0.13.1 -> 0.15.2

I also updated the docs to point to the new image that can be built with the new docker file. There are newer versions all of these libs but they won't work because:

• The last cudatoolkit in conda in 11.8, limiting the CUDA version to that
• The last pytorch3d version in conda is for python 3.10 and torch 2.0.1
• The MMCV version was limited also to 1.7.0 but I didn't make a note of what breaks when updated further.

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