[PROBABLY DON'T MERGE] dev/alma_multi_robot

[willat343]

This branch is kinda weird, i could easily see this as one to not merge back, especially since it contains #5 (dev/better_initialization) plus some additional changes.

Like the other branches, options include:

1. Merge main into this PR and address merge conflicts. Then merge this PR into main.
2. Close this PR without merging, and delete the branch with git push origin --delete <branch_name>.
3. Create a new branch (or rebase if brave) off of main and cherry-pick valuable changes for a new PR. Then delete this branch and close the PR.