Document simulation tools

[rrosa24]

• Using the Mock Interface
• Using the UR docker sim to emulate a robot
• Using the lightweight interface to bridge to physics simulators like Isaac Lab

[rrosa24]

Same here- has this been otherwise captured? @domire8

[domire8]

#316 for UR

Bridge to Isaac Lab is WIP before we can even document it

[rrosa24]

@domire8 where does this stand?

[domire8]

Mock interface is default, URSim is done here, and Isaac is in progress in #421