This PR replicates the capabilities of `container.sh` in Python, and
breaks its capabilities up into several files under a new directory
`/docker/isaaclab_container_utils`, as well as a superior interface in
`container.py`. The intention of this change is to make our
container-mediating code more easily readable, debuggable, and
modifiable. It is also done in the hopes that it can be more easily
distributed as we see a desire from users to [compose and modify our
setup](https://github.com/isaac-sim/IsaacLab/pull/455). It also has the
additional benefit of needing fewer sudo installs because of Python's
native yaml handling.

The central class, `IsaacLabContainerInterface`, contains a lot of the
original utility of the script, and several of the current
`container.py` scripts options simply configure it and call a method.
@pascal-roth `apptainer_utils.py` and the `./container.py job/push`
logic are separated out, I'm curious what you think of this delineation.
I also haven't been able to fully test that end of things as I don't
have a cluster to use, though I did verify that it worked to the extent
I could.

I will update the docs when I have received approval

<!-- As you go through the list, delete the ones that are not
applicable. -->

- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have run all the tests with `./isaaclab.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: Hunter Hansen <50837800+hhansen-bdai@users.noreply.github.com>
Signed-off-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>