Fix Bugs in Sandbox Mode

[sauravbanna]

Description

This PR fixes some bugs I noticed in sandbox mode. These are:

• Fix positioning and coordinate system for Yellow Fullsystem
• Handle pre-referee message coordinate system in World packets vs post-referee message
• Add wrapper around WorldState to handle coordinate conversions correctly and safely

Testing Done

Build and runs correctly. Tested positioning in Yellow Fullsystem to make sure coordinates are correctly. Tested all sandbox operations (add, remove, drag) in Yellow FS. Went through a few GC commands and Plays to verify

Resolved Issues

Length Justification and Key Files to Review

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