def METHOD_NAME(
    blue_bots, yellow_bots, ball_initial_pos, play_name, simulated_test_runner
):
    """
    Sets up the free kick play test
    :param blue_bots: positions of blue robots
    :param yellow_bots: positions of yellow robots
    :param ball_initial_pos: initial position of the ball
    :param play_name: current play being used for blue robots
    :param simulated_test_runner: the current test runner
    """
    # Game Controller Setup
    simulated_test_runner.gamecontroller.send_ci_input(
        gc_command=Command.Type.STOP, team=Team.UNKNOWN
    )
    simulated_test_runner.gamecontroller.send_ci_input(
        gc_command=Command.Type.NORMAL_START, team=Team.BLUE
    )
    simulated_test_runner.gamecontroller.send_ci_input(
        gc_command=Command.Type.DIRECT, team=Team.BLUE
    )
    # Force play override here
    blue_play = Play()
    blue_play.name = play_name
    yellow_play = Play()
    yellow_play.name = PlayName.HaltPlay
    simulated_test_runner.blue_full_system_proto_unix_io.send_proto(Play, blue_play)
    simulated_test_runner.yellow_full_system_proto_unix_io.send_proto(Play, yellow_play)
    # Create world state
    simulated_test_runner.simulator_proto_unix_io.send_proto(
        WorldState,
        create_world_state(
            yellow_robot_locations=yellow_bots,
            blue_robot_locations=blue_bots,
            ball_location=ball_initial_pos,
            ball_velocity=tbots.Vector(0, 0),
        ),
    )