For this to work, some system modifications are necessary
groupadd minecraft
usermod -G minecraft username
useradd -g minecraft server1
useradd -g minecraft server2
useradd -g minecraft server3
useradd -g minecraft server4
Note the uppercase -G, it adds the user to the group rather than setting it as their primary group.
useradd -G minecraft dog
Create a file in /etc/sudoers.d and add this content:
%minecraft ALL=(server1) NOPASSWD: ALL
%minecraft ALL=(server2) NOPASSWD: ALL
%minecraft ALL=(server3) NOPASSWD: ALL
%minecraft ALL=(server4) NOPASSWD: ALL
Now any member of the minecraft group should have access to run any command as the server users.
To drop into the server shells, the server1 through server4 commands use sudo to launch a shell as the respective users
The commands s1, s2, s3, s4 as well as c1, c2, c3, c4 all simply execute mc-console with two arguments.
The first argument is the name of the server to open the console for, the second is which screen layout to use.
When you execute s1 it will us the split layout for the console, while c1 will use the combined layout.
Layouts can be customized by editing the shell.split and shell.combine files in the server home directory, but it will affect all users.
If you want/need something custom, feel free to copy one of the shell.* files to some new name and use mc-console directly to launch that layout.