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/world_parser.py

@@ -127,7 +127,10 @@ class WorldParser:
             if not world.is_left_team:
                 world._global_cheat_position[:2] = -world._global_cheat_position[:2]
 
-                global_rotation = R.from_quat(robot.global_orientation_quat)
+                # Rotate the current raw server pose into Apollo's unified
+                # left-team view. Using the previous frame orientation here
+                # makes right-side players drift and face the wrong direction.
+                global_rotation = R.from_quat(robot._global_cheat_orientation)
                 yaw180 = R.from_euler('z', 180, degrees=True)
                 fixed_rotation = yaw180 * global_rotation
                 robot._global_cheat_orientation = fixed_rotation.as_quat()
@@ -138,7 +141,7 @@ class WorldParser:
                 [MathOps.normalize_deg(axis_angle) for axis_angle in euler_angles_deg])
             robot.global_orientation_quat = robot._global_cheat_orientation
             world.global_position = world._global_cheat_position
-        except:
+        except Exception:
             logger.exception(f'Failed to rotate orientation and position considering team side')
 
         robot.gyroscope = np.array(perception_dict["GYR"]["rt"])
@@ -157,12 +160,33 @@ class WorldParser:
 
                     polar_coords = np.array(seen_object['pol'])
                     local_cartesian_3d = MathOps.deg_sph2cart(polar_coords)
+                    previous_ball_pos = np.copy(world.ball_pos)
+                    previous_ball_time = world.ball_last_update_time
 
                     world.ball_pos = MathOps.rel_to_global_3d(
                         local_pos_3d=local_cartesian_3d,
                         global_pos_3d=world.global_position,
                         global_orientation_quat=robot.global_orientation_quat
                     )
+                    world.ball_last_pos = previous_ball_pos
+                    world.ball_last_update_time = world.server_time
+
+                    if previous_ball_time is not None:
+                        dt = world.server_time - previous_ball_time
+                        if dt > 1e-6:
+                            raw_vel = (
+                                world.ball_pos[:2] - previous_ball_pos[:2]
+                            ) / dt
+                            alpha = 0.4
+                            world.ball_velocity_2d = (
+                                alpha * raw_vel
+                                + (1.0 - alpha) * world.ball_velocity_2d
+                            )
+                            world.ball_speed = float(np.linalg.norm(world.ball_velocity_2d))
+                    else:
+                        world.ball_velocity_2d = np.zeros(2)
+                        world.ball_speed = 0.0
+
                     world.is_ball_pos_updated = True
 
                 elif obj_type == "P":