Explain how `stage` and `prime` work in the docs
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Issue body
My understanding of the `stage` and `prime` directives are that they let you specify:
* stage: what files go from `$CRAFT_PART_INSTALL` to `$CRAFT_STAGE`
* prime: what files go from `$CRAFT_STAGE` to `$CRAFT_PRIME`
and that, if omitted, the default behaviour is to copy everything in each of those locations.
It would be great to have this explained more in the docs. There's a few hints at this, but I don't see anything that explicitly describes the behaviour (especially the default behaviour). I found it awkward to learn how to use these when I'd see some `rockcraft.yaml` files using `stage` and `prime`, and others omitting them entirely.
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