The formalized behavior references a variety of input and output symbols, which can stand for variables or functions of the agent's software. Constants are constant decimal values.
| Name | Type | Measure | Description |
| ball.number-of-images-with-ball-percept | decimal | | The number of consecutive images with a detected ball |
| ball.number-of-images-without-ball-percept | decimal | | The number of consecutive images without a detected ball |
| ball.angle-to-opponent-goal | decimal | degree | Angle to the opponent goal. |
| ball.average-distance | decimal | mm | the average distance to the ball in the last two seconds |
| ball.ball-was-seen | boolean | true/ false | Indicates if the ball was seen in the last image |
| ball.seen.distance | decimal | mm | disctance to the seen ball |
| ball.seen.distance-to-border | decimal | mm | disctance from the seen ball to fieldborders |
| ball.seen.angle | decimal | deg | angle to the seen ball |
| ball.seen.x | decimal | mm | absolute x position of the seen ball |
| ball.seen.y | decimal | mm | absolute y position of the seen ball |
| ball.seen.speed | decimal | mm-per-s | absolute estimated moving speed of the ball |
| ball.seen.relative-speed.x | decimal | mm-per-s | robot relative x of estimated moving speed of the ball |
| ball.seen.relative-speed.y | decimal | mm-per-s | robot relative y of estimated moving speed of the ball |
| ball.seen.distance-to-own-penalty-area | decimal | mm | distance of the seen ball to the own penalty area |
| ball.seen.distance-x | decimal | mm | relative x position of the seen ball |
| ball.seen.distance-y | decimal | mm | relative y position of the seen ball |
| ball.seen.ball-in-front-of-opponent-goal | boolean | true/ false | ball seen in front of opponent goal |
| ball.seen.relative-x | decimal | mm | robot relative x position of the ball |
| ball.seen.relative-y | decimal | mm | robot relative y position of the ball |
| ball.seen.position.probability | decimal | | Seen position. |
| ball.seen.speed.x | decimal | mm-per-s | Absolute speed in x-direction. |
| ball.seen.speed.y | decimal | mm-per-s | Absolute speed in y-direction. |
| ball.seen.speed.probability | decimal | | Seen velocity. |
| ball.time-since-last-seen | decimal | ms | the time since the ball was seen last |
| ball.consecutively-seen-time | decimal | ms | the time for how long the ball was last consecutively seen |
| ball.time-since-last-seen-consecutively | decimal | ms | the time since the ball was seen consecutively last |
| ball.just-seen | boolean | true/ false | the ball was just seen |
| ball.known-or-near.angle | decimal | deg | Known or near (seen, propagated or communicated) angle to ball. |
| ball.known-or-near.distance | decimal | mm | Known or near (seen, propagated or communicated) distance to ball. |
| ball.known-or-near.x | decimal | mm | Known or near (seen, propagated or communicated) ball x-position. |
| ball.known-or-near.y | decimal | mm | Known or near (seen, propagated or communicated) ball y-position. |
| ball.known-or-near.relative-x | decimal | mm | Known or near (seen, propagated or communicated) relative ball x-position. |
| ball.known-or-near.probability | decimal | | Known or near (seen, propagated or communicated) validity. |
| ball.known-or-near.relative-y | decimal | mm | Known or near (seen, propagated or communicated) relative ball y-position. |
| ball.known-or-near-speed.x | decimal | mm/s | Known or near (seen, propagated or communicated) ball x-speed. |
| ball.known-or-near-speed.y | decimal | mm/s | Known or near (seen, propagated or communicated) ball y-speed. |
| ball.known-or-near-speed | decimal | mm/s | Known or near (seen, propagated or communicated) ball y-speed. |
| ball.known-or-near-relative-speed.x | decimal | mm/s | Known or near (seen, propagated or communicated) ball x-speed. |
| ball.known-or-near-relative-speed.y | decimal | mm/s | Known or near (seen, propagated or communicated) ball y-speed. |
| ball.known.distance | decimal | mm | distance to the known ball |
| ball.known.angle | decimal | deg | angle to the known ball |
| ball.known.x | decimal | mm | absolute x position of the known ball |
| ball.known.y | decimal | mm | absolute y position of the known ball |
| ball.hypothetical.x | decimal | mm | absolute x position of the hypothetical ball |
| ball.hypothetical.y | decimal | mm | absolute y position of the hypothetical ball |
| ball.hypothetical.distance | decimal | mm | relative distance of the hypothetical ball |
| ball.hypothetical.angle | decimal | degree | absolute angle of the hypothetical ball to the robot |
| ball.propagated.angle | decimal | deg | Propagated angle. |
| ball.propagated.distance | decimal | mm | Propagated distance. |
| ball.propagated.position.probability | decimal | | Propagated position validity. |
| ball.propagated.relative-x | decimal | mm | Propagated relative x-position. |
| ball.propagated.relative-y | decimal | mm | Propagated relative y-position. |
| ball.propagated.relative-speed.x | decimal | mm-per-s | Propagated ball velocity in x-direction. |
| ball.propagated.relative-speed.y | decimal | mm-per-s | Propagated ball velocity in y-direction. |
| ball.propagated.speed.probability | decimal | | Propagated velocity validity. |
| ball.propagated.speed.x | decimal | mm-per-s | Propagated ball velocity in x-direction. |
| ball.propagated.speed.y | decimal | mm-per-s | Propagated ball velocity in y-direction. |
| ball.propagated.x | decimal | mm | Propagated absolute x-position. |
| ball.propagated.y | decimal | mm | Propagated absolute y-position. |
| ball.positionValidity | decimal | 0...1 | validity of calculated position |
| ball.speedValidity | decimal | 0...1 | validity of calculated speed |
| ball.time-since-last-known | decimal | ms | the time since the ball was known last |
| ball.time-after-which-communicated-balls-are-accepted | decimal | ms | the time after that communicated balls are accepted for the known position |
| ball.projected-distance-on-y-axis | decimal | mm | Projected Distance of the ball to the y axis of the robot. |
| ball.distance-to-use-seen-max | decimal | | Max distance to use seen. |
| ball.time-until-ball-crosses-y-axis | decimal | ms | Time until the ball crosses the y axis of the robot. |
| ball.play-ball-precisely | boolean | true/ false | Penalty-shooter is active and handling ball shoud be precisely |
| ball.rolls-by-left | boolean | true/ false | If true, the ball rolls by left in a short distance |
| ball.rolls-by-right | boolean | true/ false | If true, the ball rolls by right in a short distance |
| ball.rolls-far-by-left | boolean | true/ false | If true, the ball rolls by left in a wide distance |
| ball.rolls-far-by-right | boolean | true/ false | If true, the ball rolls by right in a wide distance |
| ball.rolls-towards-robot | boolean | true/ false | If true, the ball rolls towards the robot |
| ball.rolls-fast | boolean | true/ false | If true, the ball has a high speed in any direction |
| ball.time-after-which-propagated-are-used | decimal | | Time after which propagated are used. |
| ball.known-or-near.distance-to-own-penalty-area | decimal | | The distance of the known or near ball to the own penalty area. |
| ball.known-or-near.angle-to-own-goal | decimal | | The angle of the ball to the own goal. |
| ball.interception-point.x | decimal | | The x-position of the interception point |
| ball.interception-point.y | decimal | | The y-position of the interception point |
| ball.ball-can-be-intercepted | boolean | true/ false | If true, the robot is able to intercept the ball |