Update SP1 to v6.0.0

[han0110]

• Update SP1 to v6.0.0. Resolves Update sp1 to v6.0.0 #280
  • Instead of using docker container to do GPU proving, SP1 now uses a pre-built binary to serve the GPU proving (supports multi cuda arches including 80,86,89,90,100,120).
  • Refactor the sdk.rs a bit and it no longer panics when guest panics. Resolves sp1: remove the poisoned-lock workaround #44
  • SP1 supports RV64 by default now
• Update RustRv32ima to RustRv64ima and compile with json target spec of riscv64im-unknown-none-elf with atomic-cas = true
• Update runtime of the test guest using stock Rust compiler
• Update Dockerfile to base on nvidia runtime image, and update SDK installer script to download te pre-built GPU prover binary
• Update ere-dockerized to remove the flags for DooD and pass the gpu flags
• Move the block_on helper to ere-zkvm-interface behind feature gate tokio