Multi team sim

[MegaIng]

Summary

This PR adds the ability to launch robots in different teams in the same simulation, as well as Trikots to the robots.

Proposed changes

• Extends mujoco_simulation.launch.py to take in --num-robots 2:2 to mean a 2 vs 2 game with 4 robots in total
• Based on the number of players in a team, the roles are assigned (order: offense, goalie, defense x3, offense x2)
• The robots are then placed along the sides of the field on their half
• For each robot a trikot texture gets generated on launch, being applied to the new trikot mesh (which is just red if the pi_plus.xml is viewed in isolation)

(Currently the branch also contains some temporary stuff like the ability to start the multi robot simulation without starting any teamplayers for performance reasons. I plan to revert that commit before this PR is ready)

Related issues

Checklist

• Run pixi run build
• Write documentation
• Test on your machine
• Test on the robot
• Create issues for future work
• Triage this PR and label it