Penalty kick play pytest

[GrayHoang]

Description

Adds a pytest for penalty kick Basically this test just assess whether the ball goes into the goal. I may update it later to pass if the ball enters the crease, as in theory the goalie can defend the ball and we would still consider the play to succeed, even if the ball didn't score.

Testing Done

It compiles and the broken penalty kick ai fails the test (gotta fix that)

Resolved Issues

working on #3389

Length Justification and Key Files to Review

there are a couple of comments on lines I wasn't sure about.

Review Checklist

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

• [x] 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.
• [x] Remove all commented out code
• [x] Remove extra print statements: for example, those just used for testing
• [x] Resolve all TODO's: All TODO (or similar) statements should either be completed or associated with a github issue

[GrayHoang]

Probably going to add the pytest for the tactic to this branch as well. Just gotta figure out how to write that...