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

world/commons/field.py

@@ -28,10 +28,15 @@ class Field(ABC):
         self.field_landmarks: FieldLandmarks = FieldLandmarks(field=self)
 
     def _resolve_side(self, side: GoalSide) -> Literal["left", "right"]:
-        if side in ("our", "left"):
+        if side == "left":
             return "left"
-        if side in ("their", "right"):
+        if side == "right":
             return "right"
+        is_left = self.world.is_left_team
+        if side == "our":
+            return "left" if is_left else "right"
+        if side == "their":
+            return "right" if is_left else "left"
         raise ValueError(f"Unknown field side: {side}")
 
     def get_width(self) -> float:
@@ -111,12 +116,19 @@ class Field(ABC):
         field_half_y = self.get_width() / 2.0
         return self._is_inside_bounds(pos2d, (-field_half_x, field_half_x, -field_half_y, field_half_y))
 
-    def get_beam_pose(self, number: int) -> tuple[float, float, float]:
+    def get_beam_pose(self, number: int, is_left_team: bool = True) -> tuple[float, float, float]:
         try:
-            return self.DEFAULT_BEAM_POSES[number]
+            pose = self.DEFAULT_BEAM_POSES[number]
         except KeyError as exc:
             raise KeyError(f"No beam pose configured for player {number} on {type(self).__name__}") from exc
 
+        if is_left_team:
+            return pose
+
+        x, y, rotation = pose
+        mirrored_rotation = ((rotation + 180.0 + 180.0) % 360.0) - 180.0
+        return (-x, -y, mirrored_rotation)
+
     def get_default_beam_poses(self) -> dict[int, tuple[float, float, float]]:
         return dict(self.DEFAULT_BEAM_POSES)
 
@@ -181,17 +193,13 @@ class FIFAField(Field):
     PENALTY_SPOT_DISTANCE = 11.0
     CENTER_CIRCLE_RADIUS = 9.15
     DEFAULT_BEAM_POSES = {
-        1: (2.1, 0.0, 0.0),
-        2: (22.0, 12.0, 0.0),
-        3: (22.0, 4.0, 0.0),
-        4: (22.0, -4.0, 0.0),
-        5: (22.0, -12.0, 0.0),
-        6: (15.0, 0.0, 0.0),
-        7: (4.0, 16.0, 0.0),
-        8: (11.0, 6.0, 0.0),
-        9: (11.0, -6.0, 0.0),
-        10: (4.0, -16.0, 0.0),
-        11: (7.0, 0.0, 0.0),
+        1: (-50.7, 0.0, 0.0),
+        2: (-38.9, 10.9, 0.0),
+        3: (-36.8, 4.8, 0.0),
+        4: (-36.8, -4.8, 0.0),
+        5: (-38.9, -10.9, 0.0),
+        6: (-10.2, 0.0, 0.0),
+        7: (-18.9, 0.0, 0.0),
     }
 
 
@@ -204,9 +212,9 @@ class HLAdultField(Field):
     PENALTY_SPOT_DISTANCE = 2.1
     CENTER_CIRCLE_RADIUS = 1.5
     DEFAULT_BEAM_POSES = {
-        1: (5.5, 0.0, 0.0),
-        2: (2.0, -1.5, 0.0),
-        3: (2.0, 1.5, 0.0),
+        1: (-5.5, 0.0, 0.0),
+        2: (-2.0, -1.5, 0.0),
+        3: (-2.0, 1.5, 0.0),
     }
 
 
@@ -219,11 +227,11 @@ class Soccer7vs7Field(Field):
     PENALTY_SPOT_DISTANCE = 5.8
     CENTER_CIRCLE_RADIUS = 4.79
     DEFAULT_BEAM_POSES = {
-        1: (2.0, 0.0, 0.0),
-        2: (12.0, 8.0, 0.0),
-        3: (13.5, 0.0, 0.0),
-        4: (12.0, -8.0, 0.0),
-        5: (7.0, 9.5, 0.0),
-        6: (4.5, 0.0, 0.0),
-        7: (7.0, -9.5, 0.0),
+        1: (-25.7, 0.0, 0.0),
+        2: (-15.7, 5.8, 0.0),
+        3: (-13.8, 2.5, 0.0),
+        4: (-13.8, -2.5, 0.0),
+        5: (-15.7, -5.8, 0.0),
+        6: (-5.8, 0.0, 0.0),
+        7: (-9.9, 0.0, 0.0),
     }