add kick behavior with keyframe, but still need to be improved

behaviors/custom/keyframe/kick/kick.py

@@ -0,0 +1,91 @@
+import os
+from numbers import Real
+
+from behaviors.behavior import Behavior
+from behaviors.custom.keyframe.keyframe import KeyframeSkill
+
+
+class Kick(Behavior):
+    SHORT_MAX_DISTANCE: float = 1.8
+    MID_MAX_DISTANCE: float = 4.5
+    TEN_METER_MIN_DISTANCE: float = 8.0
+    DEFAULT_DISTANCE: float = 3.0
+
+    def __init__(self, agent):
+        super().__init__(agent)
+
+        base_dir = os.path.dirname(__file__)
+        self.short_kick = KeyframeSkill(
+            agent=agent,
+            file=os.path.join(base_dir, "kick_short.yaml"),
+        )
+        self.mid_kick = KeyframeSkill(
+            agent=agent,
+            file=os.path.join(base_dir, "kick_mid.yaml"),
+        )
+        self.long_kick = KeyframeSkill(
+            agent=agent,
+            file=os.path.join(base_dir, "kick_long.yaml"),
+        )
+        self.ten_meter_kick = KeyframeSkill(
+            agent=agent,
+            file=os.path.join(base_dir, "kick_10m.yaml"),
+        )
+
+        self.current_kick: KeyframeSkill | None = None
+        self.should_reset_kick: bool = True
+        self.should_execute_neutral: bool = True
+
+    def execute(self, reset: bool, *args, **kwargs) -> bool:
+        if reset:
+            kick_distance = self._extract_kick_distance(*args, **kwargs)
+            self.current_kick = self._choose_kick_from_distance(kick_distance)
+            self.should_reset_kick = True
+            self.should_execute_neutral = True
+
+        if self.current_kick is None:
+            self.current_kick = self.mid_kick
+
+        if self.should_execute_neutral:
+            neutral_finished = self.agent.skills_manager.execute(
+                "Neutral",
+            )
+            self.should_reset_kick = False
+            if not neutral_finished:
+                return False
+            self.should_execute_neutral = False
+            self.should_reset_kick = True
+
+        has_finished = self.current_kick.execute(reset=self.should_reset_kick)
+        self.should_reset_kick = False
+        return has_finished
+
+    def _extract_kick_distance(self, *args, **kwargs) -> float:
+        distance_candidates = (
+            kwargs.get("distance"),
+            kwargs.get("kick_distance"),
+            kwargs.get("target_distance"),
+            kwargs.get("ball_to_target_distance"),
+            args[0] if args else None,
+        )
+
+        for candidate in distance_candidates:
+            if isinstance(candidate, Real):
+                return float(max(0.0, candidate))
+
+        return self.DEFAULT_DISTANCE
+
+    def _choose_kick_from_distance(self, distance: float) -> KeyframeSkill:
+        if distance <= self.SHORT_MAX_DISTANCE:
+            return self.short_kick
+
+        if distance <= self.MID_MAX_DISTANCE:
+            return self.mid_kick
+
+        if distance >= self.TEN_METER_MIN_DISTANCE:
+            return self.ten_meter_kick
+
+        return self.long_kick
+
+    def is_ready(self, *args) -> bool:
+        return True