Use RobotState instead of individual variables for prim exec

[nycrat]

Description

This is a stacked PR: #3756 #3758 #3759 #3760.

In ErForceSimulator and PrimitiveExecutor, we originally passed robot velocities and angular velocities as an std::pair or as separate function arguments. Since we will need the robot position and orientations as well for the updated primitive executor, this data should be encapsulated into a RobotState struct. However, since there is already a RobotState class, I just reused this class and added setters since originally it was read-only.

Also see: #3716 (comment)

Testing Done

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