Merge branch 'main' into develop

Author: SK2iP

server.py

@@ -162,7 +162,7 @@ def SendByeCommand(self, register_response: RegisterResponse):
         res = Empty()
         return res
     def GetBestPlannerAction(self, pairs: BestPlannerActionRequest):
-        self.logger.debug(f"GetBestPlannerAction cycle:{pairs.state.world_model.cycle} pairs:{len(pairs.pairs)} unum:{pairs.state.register_response.uniform_number}")
+        self.logger.debug(f"GetBestPlannerAction cycle:{pairs.state.world_model.cycle} pairs:{len(pairs.pairs)} unum:{pairs.register_response.uniform_number}")
         pairs_list: list[int, RpcActionState] = [(k, v) for k, v in pairs.pairs.items()]
         pairs_list.sort(key=lambda x: x[0])
         best_action = max(pairs_list, key=lambda x: -1000 if x[1].action.parent_index != -1 else x[1].predict_state.ball_position.x)