add check for y-position of searcher

Author: paudar

crates/control/src/behavior/search.rs

@@ -113,6 +113,7 @@ pub fn execute(
         .duration_since(last_time_role_changed)
         .expect("time went backwards")
         < Duration::from_secs_f32(estimated_ball_arrival_time)
+        && ground_to_field.as_pose().position().y().abs() < field_dimensions.penalty_area_width / 2.0
     {
         return Some(MotionCommand::Stand { head });
     };