Visual Referee during free kicks

[ThagonDuarte]

Why? What?

The rule update for the 2025 season introduces a change to the set play of free kicks. Instead of sending the kicking team in the game controller message during all free kicks, now, during CornerKick, GoalKick, KickIn, and PushingFreeKick no kicking team will be sent in the game controller message. Instead, the head referee will give a visual signal to indicate the direction of play for the kicking team. This means a signal in the direction of the goal of the HULKs indicates that the Opponent is the kicking team. This signal can be seen below:

This expands our current visual referee implementation to now also detect this free kick visual referee signal.
We only try to detect the visual referee signal in KickIn and PushingFreeKick, since the kicking_team during CornerKick and GoalKick can be deduced from the current ball position and the teams GlobalFieldSide, i.e. whether their are home or away. During KickIn and PushingFreeKick, when Home the DefenderRight and MidfielderRight should look at the referee and do the detection. When Away, this is done by DefenderLeft and MidfielderLeft.

Fixes #1476

ToDo / Known Issues

• Handle not knowing the kicking_team
• Implement behavior for looking at the referee for pose detection during set plays.
• Implement detection logic and filtering.
• Use detection to set kicking_team and propagate to other Naos.
• Filter kicking_team to directly compute it in the SubStates CornerKick and GoalKick.
• Implement bevyhavior simulator scenarios for
  • Check that all roles only perform passive Actions while kicking_team is not known yet (is None), i.e. that no NAO directly walks to the ball and tries to kick it.
  • Check that None as kicking_team is handled correctly
  • Check KickingTeamFilter works as intended
  • Check behavior for visual referee during free kicks works correctly

Ideas for Next Iterations (Not This PR)

• Determine kicking_team directly by looking at the Penalty set in the same GameControllerMessage as the transition to the SubState PushingFreeKick.
• Also use team_ball in KickingTeamFilter. Depends on Striker transition from ball search to normal role assignment is riddich broken #1412

How to Test

• In play, trigger the four free kicks CornerKick, GoalKick, KickIn, and PushingFreeKick.
  • Check that during KickIn and PushingFreeKick the only the correct defender and midfielder look at the referee and do the visual signal detection.
  • Check that during GoalKick and CornerKick the correct kicking_team is produced by KickingTeamFilter and is correctly propagated to all nodes ready kicking_team.
  • Check that the visual referee free kick pose signal is detected, filtered, and interpreted correctly.
• Check that the detected kicking_team is propagated correctly to all nodes importing kicking_team.

Please also test where behavior had to be adapted to not knowing the kicking_team some of the time:

• In ball_state_composer.rs a side_factor uses the kicking_team. What is its value for kicking_team == None`?
• In stand.rs the kicking_team is read multiple times to determine the Half.
• In localization.rs the kicking_team is used to modify_state().
• In rule_obstacle_composer.rs the create_penalty_box() uses the kicking_team.
• In search_suggestor.rs uses the kicking_team to determine the Half.
• The PathDeserialize implementation of Option requires a default to be defined for the underlying type T. Here this means Team has to receive a default value. Is Opponent a reasonable choice for this?