Set up locomanipulation environment

[EricPedley]

Creates a copy of the example locomanipulation environment and replaces all the config for the Digit robot with KBot.

TODO:

• Get rid of more of the locomotion rewards so it just stands still, to focus more on the arm control
• Set it up with the RNN architecture that's been working for locomotion
• Export weights to kinfer and validate sim2sim and sim2real