The agent requires a skill to strafe around the ball on an arc. It will move sidewards and turn at the same time. This is useful for moving around the ball to face to the opposite goal.

A first step might be to implement a skill that does kind of an octagon walk. It executes sequences of turn and strafe until the desired position is reached, possibly incorporating position corrections by small forward walks when getting too far away from the ball and looking upwards after a turn to check for the goal position again.

The second step could be to implement such a walk using the ALMotion walk engine. This is however a cumbersome and lengthy process. The better bet might be to wait for our own motion engine and implement this motion there.