Use tmuxp to create a single launch script

[andrewjong]

Right now we need to manually attach to each docker container to launch things.
Let's add a single script using tmuxp that lets people launch everything at once.

Ideally the script can load in a .yaml config file that specifies:

• omniverse environment
• number of agents to spawn

[andrewjong]

@jfkeller perhaps we can point the isaac sim launch to a specific checkpoint for the USD file

[andrewjong]

Closed for #111