GoToRolePosition handling when position is taken

[texhnolyze]

Summary

With defenders/goalies we use the GoToRolePosition action often, when another robot is closer to the ball. When the position on the field is taken by another robot we use obstacle avoidance to not walk into it, but don't really know what to do an akwardly walk around.

Expected behavior

Not really sure, because we only do this when we are not close to the ball and walking into other robots, who are not playing the ball is a foul.

Steps to Reproduce

1. Run a robot with role goalie
2. Place a second penalized striker robot on the goalie position
3. -> The goalie will want to go to his position, when it does not see the ball and is playing alone