diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/demo.dsd b/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/demo.dsd
new file mode 100644
index 000000000..e35d7df90
--- /dev/null
+++ b/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/demo.dsd
@@ -0,0 +1,45 @@
+#SearchBall
+@ChangeAction + action:searching, @LookAtFieldFeatures, @WalkInPlace + duration:3, @Turn
+
+#DoNothing
+@ChangeAction + action:waiting, @LookForward, @Stand
+
+#StandAndLook
+@ChangeAction + action:waiting, @LookAtFieldFeatures, @Stand
+
+#PerformKickLeft
+@ChangeAction + action:kicking, @LookAtFront, @Stand + duration:1.0 + r:false, @LookForward + r:false, @KickBallStatic + foot:left + r:false, @LookAtFieldFeatures + r:false, @Stand + duration:2 + r:false
+
+#PerformKickRight
+@ChangeAction + action:kicking, @LookAtFront, @Stand + duration:1.0 + r:false, @LookForward + r:false, @KickBallStatic + foot:right + r:false, @LookAtFieldFeatures + r:false, @Stand + duration:2 + r:false
+
+#KickWithAvoidance
+$AvoidBall
+    NO --> $BallClose + distance:%body.ball_reapproach_dist + angle:%body.ball_reapproach_angle
+        YES --> $BallKickArea
+            NEAR --> $FootSelection
+                LEFT --> #PerformKickLeft
+                RIGHT --> #PerformKickRight
+            FAR --> @ChangeAction + action:going_to_ball, @LookAtFront, @GoToBall + target:close
+        NO --> @ChangeAction + action:going_to_ball + r:false, @LookAtFieldFeatures + r:false, @AvoidBallActive + r:false, @GoToBall + target:close + blocking:false + distance:%body.ball_far_approach_dist
+    YES --> $ReachedPathPlanningGoalPosition + threshold:%body.ball_far_approach_position_thresh
+        YES --> @AvoidBallInactive
+        NO --> @ChangeAction + action:going_to_ball, @LookAtFieldFeatures, @GoToBall + target:close + distance:%body.ball_far_approach_dist
+
+#Init
+@Stand + duration:0.1 + r:false, @ChangeAction + action:waiting, @LookForward, @Stand
+
+#NormalBehavior
+$BallSeen
+    NO --> #SearchBall
+    YES --> #StrikerRole
+
+-->BodyBehavior
+$IsPenalized
+    YES --> #DoNothing
+    ELSE --> #NormalBehavior
+        INITIAL --> #Init
+        READY --> #StandAndLook
+        SET --> #StandAndLook
+        FINISHED --> @Stand + duration:0.5 + r:false, @PlaySound + file:fanfare.wav, @PlayAnimationCheering + r:false, @LookForward, @Stand
+        PLAYING --> #NormalBehavior