Multi-agent collaboration in droidlet

## Type of Issue

Select the type of issue:
- [ ] Bug report (to report a bug)
- [ ] Feature request (to request an additional feature)
- [x] Tracker (I am just using this as a tracker)
- [ ] Refactor request
- [ ] Documentation Ask

## Description

This issue is a tracker for multi-agent collaboration towards Move and Dance in droidlet

## Current Behavior

None exists

## Expected Behavior

Multiple agents (3 to begin with) coordinate on some Move and Dance tasks together

## Steps to reproduce

## Checklist

- [ ] Bring up Swarm Master and workers
- [ ] write a script to spawn the setup with one worker to begin with
- [ ] rebase work on new architecture in main
- [ ] update memory, perception and DialogueManager APIs
- [x] get devfair uptodate:
- [x] fresh clone of repo
- [x] new conda env
- [x] run the tests, cuberite + agents
- [ ] on startup - spawn all agents at different locations so we can see
- [ ]