Field testing improvements

[nycrat]

Description

This is a stacked PR: #3744 #3806 #3807

This PR adds better field testing with the following features:

• Field robot ids are automatically mapped to the simulated ids
  • e.g. if we only have robot 3 on the field, it will execute the tactics and validations of robot 0 written in the test. If we only have robot 2 and 5, they will represent simulated robot 0 and 1.
• Robots are sent move commands to their starting positions with set_world_state
  • The field test runner waits until every robot is near its target position and orientation
  • Note that ball location cannot yet be set due to inconsistent robot ball placement
  • Also note that initial robot velocities cannot be set

Testing Done

Ran move_tactic_field_test and observed robots setting up. Rest of the test ran properly.

Resolved Issues

(part of stack pr)

Length Justification and Key Files to Review

N/A

Review Checklist

It is the reviewers responsibility to also make sure every item here has been covered

• Function & Class comments: All function definitions (usually in the .h file) should have a javadoc style comment at the start of them. For examples, see the functions defined in thunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.
• Remove all commented out code
• Remove extra print statements: for example, those just used for testing
• Resolve all TODO's: All TODO (or similar) statements should either be completed or associated with a github issue