Fixing issue with obstacle during play state

soccer/src/soccer/planning/planner/plan_request.cpp

@@ -66,18 +66,19 @@ void fill_obstacles(const PlanRequest& in, rj_geometry::ShapeSet* out_static,
     }
 
     // Adding ball as a static obstacle (because dynamic obstacles are not working)
-    double ball_vel = in.world_state->ball.velocity.mag();
-    out_static->add(std::make_shared<rj_geometry::Circle>(
-        in.world_state->ball.position, kBallRadius * (1.0 + ball_vel) + in.min_dist_from_ball));
+    double ball_vel_scaled = in.world_state->ball.velocity.mag() * .1;
+    double radius = kBallRadius + in.min_dist_from_ball * (1.0 + ball_vel_scaled);
+    if (in.min_dist_from_ball > 0) {
+        out_static->add(std::make_shared<rj_geometry::Circle>(
+            in.world_state->ball.position, radius));
+    }
 
     // Finally, add the ball as a dynamic obstacle.
     // (This is for when the other team is trying to do ball placement, so we
     // don't interfere with them.)
     if (avoid_ball && out_dynamic != nullptr && out_ball_trajectory != nullptr) {
         // Where should we store the ball trajectory?
         *out_ball_trajectory = in.world_state->ball.make_trajectory();
-        double radius = kBallRadius * (1.0 + ball_vel) + in.min_dist_from_ball;
-
         out_dynamic->emplace_back(radius, out_ball_trajectory);
 
         if (in.debug_drawer != nullptr) {