Yo Colin, congrats on making the frontpage of reddit. It's odd to find a link that hits so close to home, so I thought I'd comment. I faced and thought about the exact same problem you've eloquently solved above, so I'm anxious to try 'yield' out a bit. My 4LL RoboCup team, the Northern Bites, also uses embedded python for behaviors.

I hear CMU is back into the Four-Legged League this year -- is this what you're working on? I'm excited to play you guys this summer, and hope that development is going well.