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 |
| position-in-walk-cycle | decimal | % | The current position of the legs in a step |
| ball.time-since-last-seen | decimal | ms | The time since the ball was seen last |
| ball.consecutive-seen-time | decimal | ms | The time for which the ball was seen consecutively |
| ball.time-since-last-seen-consecutively | decimal | ms | the time since the ball was seen consecutively last |
| ball.communicated-ball-distance | decimal | mm | The distance to the communicated ball |
| ball.relative-speed-x | decimal | mm-per-s | The speed of the ball relative to the robots x axis |
| ball.relative-speed-y | decimal | mm-per-s | The speed of the ball relative to the robots y axis |
| ball.speed-abs | decimal | mm-per-s | The speed of the ball absolute |
| ball.seen.distance | decimal | mm | disctance to the seen ball |
| body-PSD-detect-ball | boolean | true/ false | Body PSD detects something... |
| time-since-last-seen-beacon | decimal | ms | The time since the last beacon was seen |
| time-between-last-beacons | decimal | ms | The time difference betwen the last two seen beacons |
| head-control-mode | enumerated | search-auto
search-for-ball
catch-ball
catch-ball-high
look-between-feet-for-carried-ball
release-caught-ball-when-turning-left
release-caught-ball-when-turning-right
search-for-ball-left
search-for-ball-right
hold-ball
open-challenge
none
look-left
look-right
scan-for-obstacles
search-for-landmarks
search-for-landmarks-head-low
look-at-blue-pink-landmark
look-straight-ahead
look-toward-opponent-goal
look-between-feet
look-to-stars
snap-at-finger
look-parallel-to-ground
direct
stay-as-forced
watch-origin
calibrate-head-speed
look-at-most-informative-landmark
directed-scan-for-obstacles
real-slow-scan
| Possible requested head control modes |
| head-is-blocked | boolean | true/ false | The head is blocked by a special action or a walk type |
| last-head-path-is-finished | boolean | true/ false | The last path of the head path planner is finished |
| set-joints-is-close-to-destination | boolean | true/ false | True if the set-joint-destination is reached |
| set-joints-max-pan-reached | boolean | true/ false | True if the head's pan is either max +/- to the side |
| next-landmark-is-within-reach | boolean | true/ false | True if the next landmark in a directed scan can be reached |