Cache poetry dependencies in workflows

[engnadeau]

User Story

Dev wants to cache poetry dependencies for faster workflow runs

Potential Solutions

• Use the poetry cache option in actions/setup-python@v4:

- uses: actions/setup-python@v4
  with:
    python-version: "3.x"
    cache: "poetry"

Additional Context

• Currently failing due to poetry not being available early in the workflow: https://github.com/engnadeau/pybotics/runs/7921609651?check_suite_focus=true
• Apparently a new release is incoming: https://github.com/actions/setup-python/issues/369#issuecomment-1214675418