Let Agents Observe Orientation of Body Parts
As a human I'm (to some degree) able to tell the orientation of other persons and their body parts. E.g. I'm able to tell if someone is facing towards or away from me.
Considering the increased expectations towards foul behavior, I think it might be beneficial to know the orientation of someone's body parts. E.g. at the moment it is very hard to obtain a useful orientation (and with this the actual boundaries) of an opponents' feet during a fight for the ball. However, this is crucial for accurate motion planning and foul prevention. It would also offer new options to detect if the ball moves or is stationary, similar to a human can by observing the rotation of the ball.
To limit this feature, we could introduce a noise model based on distance, size and shape of the observed objects, or even completely drop certain parts of an orientation in some cases. E.g. if someone is relatively far away from myself, I may be able to determine the general direction an arm is pointing to, but can't tell for sure its twist.
In addition to that, I would suggest to add the torso body to the list of visible body parts.
Making this information available to the agent could facilitate further research into more detailed opponent modeling and state estimation and with that improve decision making and motion planning in tackling situations.