evalute_formation

  void evalute_formation() {
    std::cout << "\033[13;0H\e[J" << std::endl;
    const auto visible_robots =
        static_cast<bool>(team_color_) ? world_.robots_yellow() : world_.robots_blue();
    if (mode == test::formation) {
      if (!formation_) reset_formation();
      auto agents = formation_->execute();
      for (auto agent : agents) {
        std::string agent_name = typeid(*agent).name();
        auto actions           = agent->execute();
        for (auto action : actions) {
          std::string action_name = typeid(*action).name();
          auto command = action->execute();
          if (visible_robots.count(command.id())) driver_.update_command(command);
          std::cout << "\033["<<(13 + command.id()*2)<< ";0H " << command.id() << " " << agent_name
                    << std::endl;
          std::cout << "\033["<<(14 + command.id()*2)<< ";0H " << " ╰"<<command.id() << " " << action_name
                    << std::endl;
        }
      }
    } else if (mode == test::agent) {
      if (!agent_) reset_formation();
      auto actions = agent_->execute();
      for (auto action : actions) {
        auto command = action->execute();
        if (visible_robots.count(command.id())) driver_.update_command(command);
      }
    } else if (mode == test::action) {
      if (!action_) reset_formation();
      auto command = action_->execute();
      if (visible_robots.count(command.id())) driver_.update_command(command);
    }
  }