feat(PythonPackage): Make rSoccer a publishable python package

[FelipeMartins96]

Changes:

• One of the main problems with making rSoccer an easy to install python package is its dependency on the rSim simulator, so changes were made to rSim and this pull request updates the code to work with the new rSim version;
• Update setup configs to properly build the package;
• Added pyproject.toml file to support PEP 518;
• Added a github actions integration to automatically build the package and distribute to pypi for new tagged versions, based on https://packaging.python.org/guides/publishing-package-distribution-releases-using-github-actions-ci-cd-workflows/

Future Changes:

• Merge package configurations to pyproject.toml file when setuptools add support to PEP 660 to reduce quantity of files and enable editable installs