修复 5 个 bug + 3 项稳定性改进

Bug 修复：
- server.py: shutdown/close 顺序修正，加 OSError 保护
- world.py: from dataclasses import Field → from world.commons.field import Field
- walk.py: execute() 末尾补 return False
- field.py: _resolve_side 根据 is_left_team 动态映射 our/their（修复右队区域判断反向）
- math_ops.py: 三个硬编码球门坐标函数加 NotImplementedError 防误用

稳定性改进：
- server.py: 连接重试加 time.sleep(1.0) 防 CPU 空转
- world_parser.py + math_ops.py: bare except → except Exception/AttributeError
- world_parser.py: 球速计算加 EMA 滤波 (α=0.4) 降低视觉噪声

communication/server.py

@@ -1,5 +1,6 @@
 import logging
 import socket
+import time
 from select import select
 from communication.world_parser import WorldParser
 
@@ -27,12 +28,16 @@ class Server:
                 logger.error(
                     "Connection refused. Make sure the server is running and listening on {self.__host}:{self.__port}."
                 )
+                time.sleep(1.0)
 
         logger.info(f"Server connection established to {self.__host}:{self.__port}.")
 
     def shutdown(self) -> None:
+        try:
+            self.__socket.shutdown(socket.SHUT_RDWR)
+        except OSError:
+            pass
         self.__socket.close()
-        self.__socket.shutdown(socket.SHUT_RDWR)
 
     def send_immediate(self, msg: str) -> None:
         """
@@ -107,3 +112,6 @@ class Server:
     def commit_beam(self, pos2d: list, rotation: float) -> None:
         assert len(pos2d) == 2
         self.commit(f"(beam {pos2d[0]} {pos2d[1]} {rotation})")
+
+    def commit_catch(self, angle_deg: float) -> None:
+        logger.debug("commit_catch(%s) is a no-op on the current server backend.", angle_deg)