feat: refine penalty kick logic for kicker and goalie

- Designed penalty kick behavior in `BhvStarterPenalty`:
  - Added kicker setup, readiness, and execution methods.
  - Implemented goalie actions: setup, waiting, and responses.
  - Enhanced decision-making for `dribbling` and `shooting`.
  - Improved goalie positioning based on ball dynamics.
  - Included support for various penalty game modes.

Author: ErfanFathii