Assume the volume of goal post while decide to kick straight (#804)

Author: jaagut

src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/pathfinding_capsule.py

@@ -160,7 +160,8 @@ def get_ball_goal(self, target: BallGoalType, distance: float, side_offset: floa
             ball_x, ball_y = self._blackboard.world_model.get_ball_position_xy()
 
             # Play in any part of the opponents goal, not just the center
-            if abs(ball_y) < self._blackboard.world_model.goal_width / 2:
+            # Adjust for the goal post width (-0.06)
+            if abs(ball_y) < self._blackboard.world_model.goal_width / 2 - 0.06:
                 goal_angle = 0
             # Play in the opposite direction if the ball is near the opponent goal back line
             elif ball_x > self._blackboard.world_model.field_length / 2 - 0.2: