守门员基础版 + 进阶意图层 + 关键帧技能

守门员基础版：
- 1号门将从外场逻辑中分流，具备 HOME/INTERCEPT/CLEAR/PENALTY_READY/RECOVER 状态机
- 门线封角、横移巡逻、禁区内拦截、边路清球、点球站位
- 只依赖 Walk/Neutral/GetUp，不引入真实 catch 或 RL 扑救

守门员进阶意图层：
- GoalieSet 保留为生产姿态
- BLOCK_LEFT/BLOCK_RIGHT 降为意图层，不作为正式比赛动作
- CATCH_* 骨架与计时保留，不发真实协议
- GoalieBlock RL 占位接口预留

新增关键帧技能：
- GoalieSet（生产）、LowBlockLeft/LowBlockRight（实验）
- 注册到 BehaviorManager，has_skill() 接口新增

MonitorClient 改动：
- place_player 支持 yaw 参数

behaviors/behavior_manager.py

@@ -1,5 +1,8 @@
 from behaviors.custom.keyframe.get_up.get_up import GetUp
 from behaviors.custom.keyframe.keyframe import KeyframeSkill
+from behaviors.custom.keyframe.poses.goalie_set.goalie_set import GoalieSet
+from behaviors.custom.keyframe.poses.low_block_left.low_block_left import LowBlockLeft
+from behaviors.custom.keyframe.poses.low_block_right.low_block_right import LowBlockRight
 from behaviors.custom.keyframe.poses.neutral.neutral import Neutral
 from behaviors.behavior import Behavior
 from behaviors.custom.reinforcement.walk.walk import Walk
@@ -22,7 +25,7 @@ class BehaviorManager:
         Each skill is indexed by its class name.
         """
 
-        classes: list[type[Behavior]] = [Walk, Neutral, GetUp]
+        classes: list[type[Behavior]] = [Walk, Neutral, GoalieSet, LowBlockLeft, LowBlockRight, GetUp]
 
         # instantiate each Skill and store in the skills dictionary
         self.skills = {cls.__name__: cls(agent=self.agent) for cls in classes}
@@ -33,6 +36,9 @@ class BehaviorManager:
             raise KeyError(f"No skill found with the name '{name}'")
         return self.skills[name]
 
+    def has_skill(self, name: str) -> bool:
+        return name in self.skills
+
     def execute(self, skill_name: str, *args, **kwargs) -> bool:
         """
         Executes one step of the specified skill.

behaviors/custom/keyframe/poses/goalie_set/goalie_set.py

@@ -0,0 +1,8 @@
+import os
+
+from behaviors.custom.keyframe.keyframe import KeyframeSkill
+
+
+class GoalieSet(KeyframeSkill):
+    def __init__(self, agent):
+        super().__init__(agent, os.path.join(os.path.dirname(__file__), "goalie_set.yaml"))

behaviors/custom/keyframe/poses/low_block_left/low_block_left.py

@@ -0,0 +1,8 @@
+import os
+
+from behaviors.custom.keyframe.keyframe import KeyframeSkill
+
+
+class LowBlockLeft(KeyframeSkill):
+    def __init__(self, agent):
+        super().__init__(agent, os.path.join(os.path.dirname(__file__), "low_block_left.yaml"))

behaviors/custom/keyframe/poses/low_block_right/low_block_right.py

@@ -0,0 +1,8 @@
+import os
+
+from behaviors.custom.keyframe.keyframe import KeyframeSkill
+
+
+class LowBlockRight(KeyframeSkill):
+    def __init__(self, agent):
+        super().__init__(agent, os.path.join(os.path.dirname(__file__), "low_block_right.yaml"))

behaviors/custom/reinforcement/goalie_block/goalie_block.py

@@ -0,0 +1,32 @@
+import logging
+
+from behaviors.behavior import Behavior
+
+
+logger = logging.getLogger(__name__)
+
+
+class GoalieBlock(Behavior):
+    """
+    Placeholder interface for a future RL-based goalkeeper blocking skill.
+
+    The production code does not register or call this skill yet.
+    It exists to lock down the expected execution shape for later training work.
+    """
+
+    def __init__(self, agent):
+        super().__init__(agent)
+        self.last_side: str | None = None
+
+    def execute(self, reset: bool, side: str, *args, **kwargs) -> bool:
+        if reset:
+            self.last_side = side
+
+        logger.warning(
+            "GoalieBlock.execute(side=%s) was called before an RL model was integrated.",
+            side,
+        )
+        return True
+
+    def is_ready(self, *args) -> bool:
+        return False

communication/monitor_client.py

@@ -57,7 +57,14 @@ class MonitorClient:
         unum: int,
         team_name: str,
         pos: tuple[float, float, float],
+        yaw_deg: float | None = None,
     ) -> None:
-        self.send(
+        if yaw_deg is None:
-            f"(agent (unum {unum}) (team {team_name}) (pos {pos[0]} {pos[1]} {pos[2]}))"
+            command = f"(agent (unum {unum}) (team {team_name}) (pos {pos[0]} {pos[1]} {pos[2]}))"
-        )
+        else:
+            command = (
+                f"(agent (unum {unum}) (team {team_name}) "
+                f"(move {pos[0]} {pos[1]} {pos[2]} {yaw_deg}))"
+            )
+
+        self.send(command)