Align with ball before attempting to dribble

[nimazareian]

Description

Currently, DribbleFSM attempts to drive into the ball to get possession, which sometimes results in the robot bumping the ball away if it's not fully aligned with it. For example:

dribble_ball_behind_robot_before.mp4

This PR updates the logic by setting the destination slightly away from the ball so the robot does not bump into the ball, until the robot is aligned. Alignment is determined by drawing a long rectangle out of the robot in the direction it's facing, with the width of the dribbler (shown in purple). Here's the updated behaviour of the same scenario:

dribble_ball_behind_robot_after.mp4

Some of the robot constants were also updated to match Mech's latest CAD design.

Testing Done

Added a new simulated test (shown in the video above)

Resolved Issues

Resolves #3113

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

[williamckha]

Nice, I've noticed this issue a lot so hopefully this helps

[itsarune]

nice work! What do you think about writing a pytest instead of the simulated c++ test?

[nimazareian]

@itsarune Since we dont already have a pytest setup for dribble tactic, I was thinking that porting the tests would be more suited for a separate ticket/PR. And frankly, I'm not sure if I have the bandwidth for it right now either.

[itsarune]

LGTM! 🇳🇱