Reduce boilerplate for setting tactics and plays in tests

[nycrat]

Description

In pytests, setting robot tactics required quite a bit of boilerplate related to creating the AssignedTacticPlayControlParams protos. This PR modifies the set_tactics and set_play functions to reduce repeated code, and also makes the code more readable.

Old:

params = AssignedTacticPlayControlParams()
params.assigned_tactics[0].goalie.CopyFrom(
    GoalieTactic(max_allowed_speed_mode=MaxAllowedSpeedMode.PHYSICAL_LIMIT)
)
simulated_test_runner.set_tactics(params, is_friendly=True)

params = AssignedTacticPlayControlParams()
simulated_test_runner.set_tactics(params, is_friendly=False)

New:

simulated_test_runner.set_tactics(
    blue_tactics={
        0: GoalieTactic(
            max_allowed_speed_mode=MaxAllowedSpeedMode.PHYSICAL_LIMIT
        )
    }
)

---

Old:

blue_play = Play()
blue_play.name = PlayName.OffensePlay

yellow_play = Play()
yellow_play.name = PlayName.HaltPlay

simulated_test_runner.set_play(blue_play, is_friendly=True)
simulated_test_runner.set_play(yellow_play, is_friendly=False)

New:

simulated_test_runner.set_plays(
    blue_play=PlayName.OffensePlay, yellow_play=PlayName.HaltPlay
)

Testing Done

Behaviour of tests is still the same after the refactors.

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

The base branch was changed.

[StarrryNight]

LGTM