feat: semaphore migration

[jkao97]

Change Description

Migrate jenkins build logic to semaphore.

Additional changes:

• pin pyyaml as newer versions cannot be installed in py3 (similar issue: https://github.com/confluentinc/paas-utils/pull/134)
• add project.yaml from https://github.com/confluentinc/confluent-docker-utils/pull/69

Testing

Tests work per PR build. Release partially tested until publish in prev pr builds.

[jkao97]

Notes:

• Discussed bazel integration will come later as currently does not support public pipelines