...
import maya.cmds as cmds
import random
nbAgent = cmds.getAttr("McdAgent0McdPlace0.numOfAgent")
for i in range(nbAgent):
agent0 = "McdAgent" + str(i+1)
agent1 = "McdAgent" + str(i+nbAgent+1)
t0 = cmds.getAttr(agent0 + ".t")
t1 = cmds.getAttr(agent1 + ".t")
tm_x = t0[0][0] + t1[0][0]
tm_y = t0[0][1] + t1[0][1]
tm_z = t0[0][2] + t1[0][2]
aa = cmds.spaceLocator()
loc = aa[0]
cmds.setAttr(loc + ".tx", tm_x * .5)
cmds.setAttr(loc + ".ty", tm_y * .5)
cmds.setAttr(loc + ".tz", tm_z * .5)
cmds.parent(agent0, loc)
cmds.parent(agent1, loc)
randF = random.random() * 360
cmds.setAttr(loc + ".ry", randF)
...