Update documentation, add PR template, CONTRIBUTING.md #43
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Also taken from #39 with just the documentation changes. Have tested using sphinx and ran pre-commit.
Adds graphics for each environment type (e.g., pictures of DM control, DM lab, etc) and a brief description of each one, and usage instructions/regular documentation below. Makes it so users can scroll through the site and see the cool things we allow them to adapt without having to have prior knowledge on what each of them is already (for example I wasn't familiar with DM lab)