Dependencies for online exec

Goal: Nix env with ros1 and ros2, make sure poetry.lock gets everything else so students doing offline can just do a poetry env

• check pure poetry env w pytest for offline
• add a ros1 devShell which has 'the basics': std_msgs, rosbag cli
• add a ros2 devShell which has 'the basics': std_msgs, ros2 bag cli
• Downgrade py3.11 to allow TF, should be possible by argument in poetry packages.
• jax_tools.test_cem should be executable for Valentyn. Missing some deps from encoder dynamics currently