docs(docker): document attaching to in-container tmux sessions

Add the `docker exec ... tmux attach -t agentic-mobile-manipulator-sim`
recipe to the quickstart and compose header for inspecting a running demo,
and tighten the repo-overview docker description for the layered build.

Author: maciejmajek

docker/compose.yaml

@@ -9,7 +9,9 @@
 # each in its own tmux session — identical to running the demo natively.
 #
 # Build everything:   docker compose -f docker/compose.yaml build
-# Run the demo:        xhost +local:root && docker compose -f docker/compose.yaml run --rm demo
+# Run the demo:        xhost +local:root && docker compose -f docker/compose.yaml up demo
+# Attach to a session: docker exec -it $(docker ps -qf ancestor=robotecai/mobile-manipulator-demo:latest) tmux attach -t agentic-mobile-manipulator-sim
+#                      (sessions: -sim -stack -llm-servers -agents -hmi)
 #
 # Target is single-pc-gpu-and-npu (the default). For a GPU-only image — llama.cpp
 # (Vulkan) only, no FastFlowLM/NPU — build with:

docs/quickstart.md

@@ -63,6 +63,17 @@ The container's entrypoint is `pixi run demo`, which brings the whole stack up i
 2. **HMI**: a window/terminal showing the Human-Machine Interface.
 3. **Agents**: the autonomous agents run in the background, driving the robot.
 
+## Inspecting a component
+
+Each component runs in its own tmux session inside the container. Attach to one (e.g. the simulation) from the host:
+
+```bash
+docker exec -it $(docker ps -qf ancestor=robotecai/mobile-manipulator-demo:latest) \
+  tmux attach -t agentic-mobile-manipulator-sim
+```
+
+Swap the session for any of `-sim`, `-stack`, `-llm-servers`, `-agents`, `-hmi` (all prefixed `agentic-mobile-manipulator-`). Inside tmux, `Ctrl-b s` lists/switches sessions and `Ctrl-b d` detaches — the demo keeps running.
+
 ## Stopping
 
 ```bash

docs/repo_overview.md

@@ -23,7 +23,7 @@ The repository is organized into several key directories:
 
 ### Infrastructure & Simulation
 
-- **`docker/`**: Deployment files. Contains `docker-compose` configurations for AMD GPUs and AMD Ryzen™ AI, and Dockerfiles for different components.
+- **`docker/`**: Deployment files for AMD GPU + AMD Ryzen™ AI. A layered build (`ros2` → `o3de` → `demo`) produces a single container that runs the whole demo via `pixi run demo`. See the [Quickstart Guide](./quickstart.md).
 - **`project_gems/`**: Assets and configurations for the **O3DE (Open 3D Engine)** simulation environment.
 - **`config.toml`**: The central configuration file for defining which LLMs and VLMs are used by the agents.