Use er force simulator position data for pytest validations

[StarrryNight]

Description

Resolves:
#3684

Previously, our validations checks the ball/robot locations with the sensor fused data. That is not ideal, because we should be testing against the ground truth, which is the positional data generated directly from the er-force simulator.

This ticket accomplishes this by passing in a simulator state in validations and using its locations. When nothing is passed, validation falls back to using sensor fused data.

Testing Done

Works locally.

Resolved Issues

#3684

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

[nycrat]

@StarrryNight is this PR ready for review? It seems like the simulator states being passed into the validation functions are not used at all. Perhaps I'm misunderstanding the changes