Fixed issue with robots going into forbidden areas when stealing/receiving

[jvogt23]

Description

Describe your pull request. Title.

Associated / Resolved Issue

Resolves # or ClickUp card 86ayq6wkp

Design Documents

Link

Steps to Test

Test Case 1: Ball going into goal area

1. Step 1: Start a match and set the ball with velocity going through the goal area
2. Step 2: Observe the robots going out of stealing/receiving mode and into seeking mode. Should happen whenever the ball is in the red
3. Step 3: When the ball leaves the red, they should continue chasing the ball

Expected result:See steps 2 and 3

Key Files to Review

Group 1: Position

• File 1: Offense.cpp, offense.hpp
• File 2

Group 2: planning

• File 3: collect_path_planner
• File 4

Review Checklist

• [ ] Docstrings: All methods and classes should have the file appropriate docstrings which follow the guidelines in the "Contributing" page of our docs.
• [ ] Remove extra print statements: Any print statements used for debugging should be removed
• [ ] Tag reviewers: Tag some people for review and ping them on Slack

(Optional) Sub-issues (for drafts)

Note: if you find yourself breaking this PR into many smaller features, it may make sense to break up the PR into logical units based on these features.

• [ ] Step 1
• [ ] Step 2

[sid-parikh]

@jvogt23 apologies but please rebase with the latest version of offense