gerf day 2 changes

Author: SSL_Linux_Laptop

utama_core/skills/src/utils/move_utils.py

@@ -63,7 +63,6 @@ def turn_on_spot(
     PIVOT_RADIUS = ROBOT_RADIUS + BALL_RADIUS  # distance from robot center to ball center at contact
 
     robot = game.friendly_robots[robot_id]
-    ball = game.ball
 
     turn = move(
         game=game,
@@ -75,7 +74,7 @@ def turn_on_spot(
     )
 
     # Pivot around the ball when the robot is in dribbler contact (IR or visual proximity).
-    in_contact = robot.has_ball or (ball is not None and robot.p.distance_to(ball.p.to_2d()) < PIVOT_RADIUS)
+    in_contact = robot.has_ball
     if in_contact:
         angular_vel = turn.angular_vel
         local_left_vel = -angular_vel * PIVOT_RADIUS

utama_core/team_controller/src/debug_utils/telop_gui.py

@@ -79,9 +79,9 @@ def send_robot_commands(self):
 N_FRIENDLY = 4
 IS_YELLOW = True
 LOOP_HZ = 60
-MAX_VEL = 0.1
-FAST_VEL = 0.5
-MAX_ANG_VEL = 1
+MAX_VEL = 0.5
+FAST_VEL = 2
+MAX_ANG_VEL = 2.5
 CONNECTION_TIMEOUT = ROBOT_FEEDBACK_CONNECTION_TIMEOUT_SECONDS
 
 BG = "#1a1a1a"