diff --git a/idl/service.proto b/idl/service.proto
index e67c939..bc31cc3 100644
--- a/idl/service.proto
+++ b/idl/service.proto
@@ -1,4 +1,4 @@
-// version 1
+// version 1.1
 
 syntax = "proto3";
 
@@ -175,6 +175,7 @@ message Self {
   float recovery = 37;
   float stamina_capacity = 38;
   CardType card = 39;
+  int32 catch_time = 40;
 }
 
 enum InterceptActionType {
diff --git a/service_pb2.py b/service_pb2.py
index 775f543..45da28e 100644
--- a/service_pb2.py
+++ b/service_pb2.py
@@ -14,7 +14,7 @@
 
 
 
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*2\n\tAgentType\x12\x0b\n\x07PlayerT\x10\x00\x12\n\n\x06\x43oachT\x10\x01\x12\x0c\n\x08TrainerT\x10\x02*w\n\x11RpcActionCategory\x12\x0b\n\x07\x41\x43_Hold\x10\x00\x12\x0e\n\nAC_Dribble\x10\x01\x12\x0b\n\x07\x41\x43_Pass\x10\x02\x12\x0c\n\x08\x41\x43_Shoot\x10\x03\x12\x0c\n\x08\x41\x43_Clear\x10\x04\x12\x0b\n\x07\x41\x43_Move\x10\x05\x12\x0f\n\x0b\x41\x43_NoAction\x10\x06\x32\xfb\x04\n\x04Game\x12:\n\x10GetPlayerActions\x12\r.protos.State\x1a\x15.protos.PlayerActions\"\x00\x12\x38\n\x0fGetCoachActions\x12\r.protos.State\x1a\x14.protos.CoachActions\"\x00\x12<\n\x11GetTrainerActions\x12\r.protos.State\x1a\x16.protos.TrainerActions\"\x00\x12\x37\n\x0fSendInitMessage\x12\x13.protos.InitMessage\x1a\r.protos.Empty\"\x00\x12\x38\n\x10SendServerParams\x12\x13.protos.ServerParam\x1a\r.protos.Empty\"\x00\x12\x38\n\x10SendPlayerParams\x12\x13.protos.PlayerParam\x1a\r.protos.Empty\"\x00\x12\x35\n\x0eSendPlayerType\x12\x12.protos.PlayerType\x1a\r.protos.Empty\"\x00\x12?\n\x08Register\x12\x17.protos.RegisterRequest\x1a\x18.protos.RegisterResponse\"\x00\x12;\n\x0eSendByeCommand\x12\x18.protos.RegisterResponse\x1a\r.protos.Empty\"\x00\x12]\n\x14GetBestPlannerAction\x12 .protos.BestPlannerActionRequest\x1a!.protos.BestPlannerActionResponse\"\x00\x62\x06proto3')
 
 _globals = globals()
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
@@ -29,24 +29,24 @@
   _globals['_WORLDMODEL_HELIOSHOMEPOSITIONSENTRY']._serialized_options = b'8\001'
   _globals['_BESTPLANNERACTIONREQUEST_PAIRSENTRY']._loaded_options = None
   _globals['_BESTPLANNERACTIONREQUEST_PAIRSENTRY']._serialized_options = b'8\001'
-  _globals['_VIEWWIDTH']._serialized_start=26771
-  _globals['_VIEWWIDTH']._serialized_end=26816
-  _globals['_RPCSERVERLANGUAGETYPE']._serialized_start=26818
-  _globals['_RPCSERVERLANGUAGETYPE']._serialized_end=26941
-  _globals['_SIDE']._serialized_start=26943
-  _globals['_SIDE']._serialized_end=26983
-  _globals['_LOGGERLEVEL']._serialized_start=26986
-  _globals['_LOGGERLEVEL']._serialized_end=27292
-  _globals['_CARDTYPE']._serialized_start=27294
-  _globals['_CARDTYPE']._serialized_end=27338
-  _globals['_INTERCEPTACTIONTYPE']._serialized_start=27340
-  _globals['_INTERCEPTACTIONTYPE']._serialized_end=27458
-  _globals['_GAMEMODETYPE']._serialized_start=27461
-  _globals['_GAMEMODETYPE']._serialized_end=28032
-  _globals['_AGENTTYPE']._serialized_start=28034
-  _globals['_AGENTTYPE']._serialized_end=28084
-  _globals['_RPCACTIONCATEGORY']._serialized_start=28086
-  _globals['_RPCACTIONCATEGORY']._serialized_end=28205
+  _globals['_VIEWWIDTH']._serialized_start=26791
+  _globals['_VIEWWIDTH']._serialized_end=26836
+  _globals['_RPCSERVERLANGUAGETYPE']._serialized_start=26838
+  _globals['_RPCSERVERLANGUAGETYPE']._serialized_end=26961
+  _globals['_SIDE']._serialized_start=26963
+  _globals['_SIDE']._serialized_end=27003
+  _globals['_LOGGERLEVEL']._serialized_start=27006
+  _globals['_LOGGERLEVEL']._serialized_end=27312
+  _globals['_CARDTYPE']._serialized_start=27314
+  _globals['_CARDTYPE']._serialized_end=27358
+  _globals['_INTERCEPTACTIONTYPE']._serialized_start=27360
+  _globals['_INTERCEPTACTIONTYPE']._serialized_end=27478
+  _globals['_GAMEMODETYPE']._serialized_start=27481
+  _globals['_GAMEMODETYPE']._serialized_end=28052
+  _globals['_AGENTTYPE']._serialized_start=28054
+  _globals['_AGENTTYPE']._serialized_end=28104
+  _globals['_RPCACTIONCATEGORY']._serialized_start=28106
+  _globals['_RPCACTIONCATEGORY']._serialized_end=28225
   _globals['_RPCVECTOR2D']._serialized_start=25
   _globals['_RPCVECTOR2D']._serialized_end=89
   _globals['_REGISTERREQUEST']._serialized_start=91
@@ -58,263 +58,263 @@
   _globals['_PLAYER']._serialized_start=940
   _globals['_PLAYER']._serialized_end=1756
   _globals['_SELF']._serialized_start=1759
-  _globals['_SELF']._serialized_end=2810
-  _globals['_INTERCEPTINFO']._serialized_start=2813
-  _globals['_INTERCEPTINFO']._serialized_end=3089
-  _globals['_INTERCEPTTABLE']._serialized_start=3092
-  _globals['_INTERCEPTTABLE']._serialized_end=3442
-  _globals['_WORLDMODEL']._serialized_start=3445
-  _globals['_WORLDMODEL']._serialized_end=4872
-  _globals['_WORLDMODEL_OURPLAYERSDICTENTRY']._serialized_start=4649
-  _globals['_WORLDMODEL_OURPLAYERSDICTENTRY']._serialized_end=4718
-  _globals['_WORLDMODEL_THEIRPLAYERSDICTENTRY']._serialized_start=4720
-  _globals['_WORLDMODEL_THEIRPLAYERSDICTENTRY']._serialized_end=4791
-  _globals['_WORLDMODEL_HELIOSHOMEPOSITIONSENTRY']._serialized_start=4793
-  _globals['_WORLDMODEL_HELIOSHOMEPOSITIONSENTRY']._serialized_end=4872
-  _globals['_STATE']._serialized_start=4875
-  _globals['_STATE']._serialized_end=5047
-  _globals['_INITMESSAGE']._serialized_start=5049
-  _globals['_INITMESSAGE']._serialized_end=5135
-  _globals['_DASH']._serialized_start=5137
-  _globals['_DASH']._serialized_end=5186
-  _globals['_TURN']._serialized_start=5188
-  _globals['_TURN']._serialized_end=5222
-  _globals['_KICK']._serialized_start=5224
-  _globals['_KICK']._serialized_end=5273
-  _globals['_TACKLE']._serialized_start=5275
-  _globals['_TACKLE']._serialized_end=5319
-  _globals['_CATCH']._serialized_start=5321
-  _globals['_CATCH']._serialized_end=5328
-  _globals['_MOVE']._serialized_start=5330
-  _globals['_MOVE']._serialized_end=5358
-  _globals['_TURNNECK']._serialized_start=5360
-  _globals['_TURNNECK']._serialized_end=5386
-  _globals['_CHANGEVIEW']._serialized_start=5388
-  _globals['_CHANGEVIEW']._serialized_end=5439
-  _globals['_BALLMESSAGE']._serialized_start=5441
-  _globals['_BALLMESSAGE']._serialized_end=5542
-  _globals['_PASSMESSAGE']._serialized_start=5545
-  _globals['_PASSMESSAGE']._serialized_end=5724
-  _globals['_INTERCEPTMESSAGE']._serialized_start=5726
-  _globals['_INTERCEPTMESSAGE']._serialized_end=5796
-  _globals['_GOALIEMESSAGE']._serialized_start=5798
-  _globals['_GOALIEMESSAGE']._serialized_end=5921
-  _globals['_GOALIEANDPLAYERMESSAGE']._serialized_start=5924
-  _globals['_GOALIEANDPLAYERMESSAGE']._serialized_end=6133
-  _globals['_OFFSIDELINEMESSAGE']._serialized_start=6135
-  _globals['_OFFSIDELINEMESSAGE']._serialized_end=6179
-  _globals['_DEFENSELINEMESSAGE']._serialized_start=6181
-  _globals['_DEFENSELINEMESSAGE']._serialized_end=6225
-  _globals['_WAITREQUESTMESSAGE']._serialized_start=6227
-  _globals['_WAITREQUESTMESSAGE']._serialized_end=6247
-  _globals['_SETPLAYMESSAGE']._serialized_start=6249
-  _globals['_SETPLAYMESSAGE']._serialized_end=6284
-  _globals['_PASSREQUESTMESSAGE']._serialized_start=6286
-  _globals['_PASSREQUESTMESSAGE']._serialized_end=6349
-  _globals['_STAMINAMESSAGE']._serialized_start=6351
-  _globals['_STAMINAMESSAGE']._serialized_end=6384
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-  _globals['_RECOVERYMESSAGE']._serialized_end=6421
-  _globals['_STAMINACAPACITYMESSAGE']._serialized_start=6423
-  _globals['_STAMINACAPACITYMESSAGE']._serialized_end=6473
-  _globals['_DRIBBLEMESSAGE']._serialized_start=6475
-  _globals['_DRIBBLEMESSAGE']._serialized_end=6555
-  _globals['_BALLGOALIEMESSAGE']._serialized_start=6558
-  _globals['_BALLGOALIEMESSAGE']._serialized_end=6742
-  _globals['_ONEPLAYERMESSAGE']._serialized_start=6744
-  _globals['_ONEPLAYERMESSAGE']._serialized_end=6825
-  _globals['_TWOPLAYERMESSAGE']._serialized_start=6828
-  _globals['_TWOPLAYERMESSAGE']._serialized_end=6998
-  _globals['_THREEPLAYERMESSAGE']._serialized_start=7001
-  _globals['_THREEPLAYERMESSAGE']._serialized_end=7248
-  _globals['_SELFMESSAGE']._serialized_start=7250
-  _globals['_SELFMESSAGE']._serialized_end=7358
-  _globals['_TEAMMATEMESSAGE']._serialized_start=7360
-  _globals['_TEAMMATEMESSAGE']._serialized_end=7464
-  _globals['_OPPONENTMESSAGE']._serialized_start=7466
-  _globals['_OPPONENTMESSAGE']._serialized_end=7570
-  _globals['_BALLPLAYERMESSAGE']._serialized_start=7573
-  _globals['_BALLPLAYERMESSAGE']._serialized_end=7774
-  _globals['_SAY']._serialized_start=7777
-  _globals['_SAY']._serialized_end=9009
-  _globals['_POINTTO']._serialized_start=9011
-  _globals['_POINTTO']._serialized_end=9042
-  _globals['_POINTTOOF']._serialized_start=9044
-  _globals['_POINTTOOF']._serialized_end=9055
-  _globals['_ATTENTIONTO']._serialized_start=9057
-  _globals['_ATTENTIONTO']._serialized_end=9112
-  _globals['_ATTENTIONTOOF']._serialized_start=9114
-  _globals['_ATTENTIONTOOF']._serialized_end=9129
-  _globals['_ADDTEXT']._serialized_start=9131
-  _globals['_ADDTEXT']._serialized_end=9193
-  _globals['_ADDPOINT']._serialized_start=9195
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-  _globals['_ADDARC']._serialized_end=9581
-  _globals['_ADDCIRCLE']._serialized_start=9584
-  _globals['_ADDCIRCLE']._serialized_end=9713
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-  _globals['_BODY_GOTOPOINT']._serialized_start=10777
-  _globals['_BODY_GOTOPOINT']._serialized_end=10888
-  _globals['_BODY_SMARTKICK']._serialized_start=10891
-  _globals['_BODY_SMARTKICK']._serialized_end=11021
-  _globals['_BHV_BEFOREKICKOFF']._serialized_start=11023
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-  _globals['_BHV_BODYNECKTOBALL']._serialized_start=11080
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-  _globals['_BHV_GOTOPOINTLOOKBALL']._serialized_start=11178
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-  _globals['_BHV_NECKBODYTOBALL']._serialized_start=11298
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-  _globals['_BODY_ADVANCEBALL']._serialized_start=11434
-  _globals['_BODY_ADVANCEBALL']._serialized_end=11452
-  _globals['_BODY_CLEARBALL']._serialized_start=11454
-  _globals['_BODY_CLEARBALL']._serialized_end=11470
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-  _globals['_BODY_KICKONESTEP']._serialized_start=11914
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-  _globals['_BODY_STOPDASH']._serialized_start=12035
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-  _globals['_NECK_SCANFIELD']._serialized_start=12410
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-  _globals['_NECK_SCANPLAYERS']._serialized_start=12428
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-  _globals['_HELIOSPENALTY']._serialized_start=13387
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-  _globals['_RPCCOOPERATIVEACTION']._serialized_end=26131
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-  _globals['_RPCPREDICTSTATE']._serialized_end=26341
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-  _globals['_EMPTY']._serialized_end=26769
-  _globals['_GAME']._serialized_start=28208
-  _globals['_GAME']._serialized_end=28843
+  _globals['_SELF']._serialized_end=2830
+  _globals['_INTERCEPTINFO']._serialized_start=2833
+  _globals['_INTERCEPTINFO']._serialized_end=3109
+  _globals['_INTERCEPTTABLE']._serialized_start=3112
+  _globals['_INTERCEPTTABLE']._serialized_end=3462
+  _globals['_WORLDMODEL']._serialized_start=3465
+  _globals['_WORLDMODEL']._serialized_end=4892
+  _globals['_WORLDMODEL_OURPLAYERSDICTENTRY']._serialized_start=4669
+  _globals['_WORLDMODEL_OURPLAYERSDICTENTRY']._serialized_end=4738
+  _globals['_WORLDMODEL_THEIRPLAYERSDICTENTRY']._serialized_start=4740
+  _globals['_WORLDMODEL_THEIRPLAYERSDICTENTRY']._serialized_end=4811
+  _globals['_WORLDMODEL_HELIOSHOMEPOSITIONSENTRY']._serialized_start=4813
+  _globals['_WORLDMODEL_HELIOSHOMEPOSITIONSENTRY']._serialized_end=4892
+  _globals['_STATE']._serialized_start=4895
+  _globals['_STATE']._serialized_end=5067
+  _globals['_INITMESSAGE']._serialized_start=5069
+  _globals['_INITMESSAGE']._serialized_end=5155
+  _globals['_DASH']._serialized_start=5157
+  _globals['_DASH']._serialized_end=5206
+  _globals['_TURN']._serialized_start=5208
+  _globals['_TURN']._serialized_end=5242
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+  _globals['_KICK']._serialized_end=5293
+  _globals['_TACKLE']._serialized_start=5295
+  _globals['_TACKLE']._serialized_end=5339
+  _globals['_CATCH']._serialized_start=5341
+  _globals['_CATCH']._serialized_end=5348
+  _globals['_MOVE']._serialized_start=5350
+  _globals['_MOVE']._serialized_end=5378
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+  _globals['_TURNNECK']._serialized_end=5406
+  _globals['_CHANGEVIEW']._serialized_start=5408
+  _globals['_CHANGEVIEW']._serialized_end=5459
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+  _globals['_BALLMESSAGE']._serialized_end=5562
+  _globals['_PASSMESSAGE']._serialized_start=5565
+  _globals['_PASSMESSAGE']._serialized_end=5744
+  _globals['_INTERCEPTMESSAGE']._serialized_start=5746
+  _globals['_INTERCEPTMESSAGE']._serialized_end=5816
+  _globals['_GOALIEMESSAGE']._serialized_start=5818
+  _globals['_GOALIEMESSAGE']._serialized_end=5941
+  _globals['_GOALIEANDPLAYERMESSAGE']._serialized_start=5944
+  _globals['_GOALIEANDPLAYERMESSAGE']._serialized_end=6153
+  _globals['_OFFSIDELINEMESSAGE']._serialized_start=6155
+  _globals['_OFFSIDELINEMESSAGE']._serialized_end=6199
+  _globals['_DEFENSELINEMESSAGE']._serialized_start=6201
+  _globals['_DEFENSELINEMESSAGE']._serialized_end=6245
+  _globals['_WAITREQUESTMESSAGE']._serialized_start=6247
+  _globals['_WAITREQUESTMESSAGE']._serialized_end=6267
+  _globals['_SETPLAYMESSAGE']._serialized_start=6269
+  _globals['_SETPLAYMESSAGE']._serialized_end=6304
+  _globals['_PASSREQUESTMESSAGE']._serialized_start=6306
+  _globals['_PASSREQUESTMESSAGE']._serialized_end=6369
+  _globals['_STAMINAMESSAGE']._serialized_start=6371
+  _globals['_STAMINAMESSAGE']._serialized_end=6404
+  _globals['_RECOVERYMESSAGE']._serialized_start=6406
+  _globals['_RECOVERYMESSAGE']._serialized_end=6441
+  _globals['_STAMINACAPACITYMESSAGE']._serialized_start=6443
+  _globals['_STAMINACAPACITYMESSAGE']._serialized_end=6493
+  _globals['_DRIBBLEMESSAGE']._serialized_start=6495
+  _globals['_DRIBBLEMESSAGE']._serialized_end=6575
+  _globals['_BALLGOALIEMESSAGE']._serialized_start=6578
+  _globals['_BALLGOALIEMESSAGE']._serialized_end=6762
+  _globals['_ONEPLAYERMESSAGE']._serialized_start=6764
+  _globals['_ONEPLAYERMESSAGE']._serialized_end=6845
+  _globals['_TWOPLAYERMESSAGE']._serialized_start=6848
+  _globals['_TWOPLAYERMESSAGE']._serialized_end=7018
+  _globals['_THREEPLAYERMESSAGE']._serialized_start=7021
+  _globals['_THREEPLAYERMESSAGE']._serialized_end=7268
+  _globals['_SELFMESSAGE']._serialized_start=7270
+  _globals['_SELFMESSAGE']._serialized_end=7378
+  _globals['_TEAMMATEMESSAGE']._serialized_start=7380
+  _globals['_TEAMMATEMESSAGE']._serialized_end=7484
+  _globals['_OPPONENTMESSAGE']._serialized_start=7486
+  _globals['_OPPONENTMESSAGE']._serialized_end=7590
+  _globals['_BALLPLAYERMESSAGE']._serialized_start=7593
+  _globals['_BALLPLAYERMESSAGE']._serialized_end=7794
+  _globals['_SAY']._serialized_start=7797
+  _globals['_SAY']._serialized_end=9029
+  _globals['_POINTTO']._serialized_start=9031
+  _globals['_POINTTO']._serialized_end=9062
+  _globals['_POINTTOOF']._serialized_start=9064
+  _globals['_POINTTOOF']._serialized_end=9075
+  _globals['_ATTENTIONTO']._serialized_start=9077
+  _globals['_ATTENTIONTO']._serialized_end=9132
+  _globals['_ATTENTIONTOOF']._serialized_start=9134
+  _globals['_ATTENTIONTOOF']._serialized_end=9149
+  _globals['_ADDTEXT']._serialized_start=9151
+  _globals['_ADDTEXT']._serialized_end=9213
+  _globals['_ADDPOINT']._serialized_start=9215
+  _globals['_ADDPOINT']._serialized_end=9312
+  _globals['_ADDLINE']._serialized_start=9315
+  _globals['_ADDLINE']._serialized_end=9445
+  _globals['_ADDARC']._serialized_start=9448
+  _globals['_ADDARC']._serialized_end=9601
+  _globals['_ADDCIRCLE']._serialized_start=9604
+  _globals['_ADDCIRCLE']._serialized_end=9733
+  _globals['_ADDTRIANGLE']._serialized_start=9736
+  _globals['_ADDTRIANGLE']._serialized_end=9925
+  _globals['_ADDRECTANGLE']._serialized_start=9928
+  _globals['_ADDRECTANGLE']._serialized_end=10065
+  _globals['_ADDSECTOR']._serialized_start=10068
+  _globals['_ADDSECTOR']._serialized_end=10262
+  _globals['_ADDMESSAGE']._serialized_start=10264
+  _globals['_ADDMESSAGE']._serialized_end=10383
+  _globals['_LOG']._serialized_start=10386
+  _globals['_LOG']._serialized_end=10763
+  _globals['_DEBUGCLIENT']._serialized_start=10765
+  _globals['_DEBUGCLIENT']._serialized_end=10795
+  _globals['_BODY_GOTOPOINT']._serialized_start=10797
+  _globals['_BODY_GOTOPOINT']._serialized_end=10908
+  _globals['_BODY_SMARTKICK']._serialized_start=10911
+  _globals['_BODY_SMARTKICK']._serialized_end=11041
+  _globals['_BHV_BEFOREKICKOFF']._serialized_start=11043
+  _globals['_BHV_BEFOREKICKOFF']._serialized_end=11098
+  _globals['_BHV_BODYNECKTOBALL']._serialized_start=11100
+  _globals['_BHV_BODYNECKTOBALL']._serialized_end=11120
+  _globals['_BHV_BODYNECKTOPOINT']._serialized_start=11122
+  _globals['_BHV_BODYNECKTOPOINT']._serialized_end=11179
+  _globals['_BHV_EMERGENCY']._serialized_start=11181
+  _globals['_BHV_EMERGENCY']._serialized_end=11196
+  _globals['_BHV_GOTOPOINTLOOKBALL']._serialized_start=11198
+  _globals['_BHV_GOTOPOINTLOOKBALL']._serialized_end=11316
+  _globals['_BHV_NECKBODYTOBALL']._serialized_start=11318
+  _globals['_BHV_NECKBODYTOBALL']._serialized_end=11357
+  _globals['_BHV_NECKBODYTOPOINT']._serialized_start=11359
+  _globals['_BHV_NECKBODYTOPOINT']._serialized_end=11435
+  _globals['_BHV_SCANFIELD']._serialized_start=11437
+  _globals['_BHV_SCANFIELD']._serialized_end=11452
+  _globals['_BODY_ADVANCEBALL']._serialized_start=11454
+  _globals['_BODY_ADVANCEBALL']._serialized_end=11472
+  _globals['_BODY_CLEARBALL']._serialized_start=11474
+  _globals['_BODY_CLEARBALL']._serialized_end=11490
+  _globals['_BODY_DRIBBLE']._serialized_start=11493
+  _globals['_BODY_DRIBBLE']._serialized_end=11633
+  _globals['_BODY_GOTOPOINTDODGE']._serialized_start=11635
+  _globals['_BODY_GOTOPOINTDODGE']._serialized_end=11719
+  _globals['_BODY_HOLDBALL']._serialized_start=11722
+  _globals['_BODY_HOLDBALL']._serialized_end=11850
+  _globals['_BODY_INTERCEPT']._serialized_start=11852
+  _globals['_BODY_INTERCEPT']._serialized_end=11932
+  _globals['_BODY_KICKONESTEP']._serialized_start=11934
+  _globals['_BODY_KICKONESTEP']._serialized_end=12036
+  _globals['_BODY_STOPBALL']._serialized_start=12038
+  _globals['_BODY_STOPBALL']._serialized_end=12053
+  _globals['_BODY_STOPDASH']._serialized_start=12055
+  _globals['_BODY_STOPDASH']._serialized_end=12093
+  _globals['_BODY_TACKLETOPOINT']._serialized_start=12095
+  _globals['_BODY_TACKLETOPOINT']._serialized_end=12202
+  _globals['_BODY_TURNTOANGLE']._serialized_start=12204
+  _globals['_BODY_TURNTOANGLE']._serialized_end=12237
+  _globals['_BODY_TURNTOBALL']._serialized_start=12239
+  _globals['_BODY_TURNTOBALL']._serialized_end=12271
+  _globals['_BODY_TURNTOPOINT']._serialized_start=12273
+  _globals['_BODY_TURNTOPOINT']._serialized_end=12349
+  _globals['_FOCUS_MOVETOPOINT']._serialized_start=12351
+  _globals['_FOCUS_MOVETOPOINT']._serialized_end=12413
+  _globals['_FOCUS_RESET']._serialized_start=12415
+  _globals['_FOCUS_RESET']._serialized_end=12428
+  _globals['_NECK_SCANFIELD']._serialized_start=12430
+  _globals['_NECK_SCANFIELD']._serialized_end=12446
+  _globals['_NECK_SCANPLAYERS']._serialized_start=12448
+  _globals['_NECK_SCANPLAYERS']._serialized_end=12466
+  _globals['_NECK_TURNTOBALLANDPLAYER']._serialized_start=12468
+  _globals['_NECK_TURNTOBALLANDPLAYER']._serialized_end=12571
+  _globals['_NECK_TURNTOBALLORSCAN']._serialized_start=12573
+  _globals['_NECK_TURNTOBALLORSCAN']._serialized_end=12621
+  _globals['_NECK_TURNTOBALL']._serialized_start=12623
+  _globals['_NECK_TURNTOBALL']._serialized_end=12640
+  _globals['_NECK_TURNTOGOALIEORSCAN']._serialized_start=12642
+  _globals['_NECK_TURNTOGOALIEORSCAN']._serialized_end=12692
+  _globals['_NECK_TURNTOLOWCONFTEAMMATE']._serialized_start=12694
+  _globals['_NECK_TURNTOLOWCONFTEAMMATE']._serialized_end=12722
+  _globals['_NECK_TURNTOPLAYERORSCAN']._serialized_start=12724
+  _globals['_NECK_TURNTOPLAYERORSCAN']._serialized_end=12826
+  _globals['_NECK_TURNTOPOINT']._serialized_start=12828
+  _globals['_NECK_TURNTOPOINT']._serialized_end=12889
+  _globals['_NECK_TURNTORELATIVE']._serialized_start=12891
+  _globals['_NECK_TURNTORELATIVE']._serialized_end=12927
+  _globals['_VIEW_CHANGEWIDTH']._serialized_start=12929
+  _globals['_VIEW_CHANGEWIDTH']._serialized_end=12986
+  _globals['_VIEW_NORMAL']._serialized_start=12988
+  _globals['_VIEW_NORMAL']._serialized_end=13001
+  _globals['_VIEW_SYNCH']._serialized_start=13003
+  _globals['_VIEW_SYNCH']._serialized_end=13015
+  _globals['_VIEW_WIDE']._serialized_start=13017
+  _globals['_VIEW_WIDE']._serialized_end=13028
+  _globals['_HELIOSGOALIE']._serialized_start=13030
+  _globals['_HELIOSGOALIE']._serialized_end=13044
+  _globals['_HELIOSGOALIEMOVE']._serialized_start=13046
+  _globals['_HELIOSGOALIEMOVE']._serialized_end=13064
+  _globals['_HELIOSGOALIEKICK']._serialized_start=13066
+  _globals['_HELIOSGOALIEKICK']._serialized_end=13084
+  _globals['_HELIOSSHOOT']._serialized_start=13086
+  _globals['_HELIOSSHOOT']._serialized_end=13099
+  _globals['_HELIOSOFFENSIVEPLANNER']._serialized_start=13102
+  _globals['_HELIOSOFFENSIVEPLANNER']._serialized_end=13345
+  _globals['_HELIOSBASICOFFENSIVE']._serialized_start=13347
+  _globals['_HELIOSBASICOFFENSIVE']._serialized_end=13369
+  _globals['_HELIOSBASICMOVE']._serialized_start=13371
+  _globals['_HELIOSBASICMOVE']._serialized_end=13388
+  _globals['_HELIOSSETPLAY']._serialized_start=13390
+  _globals['_HELIOSSETPLAY']._serialized_end=13405
+  _globals['_HELIOSPENALTY']._serialized_start=13407
+  _globals['_HELIOSPENALTY']._serialized_end=13422
+  _globals['_HELIOSCOMMUNICAION']._serialized_start=13424
+  _globals['_HELIOSCOMMUNICAION']._serialized_end=13444
+  _globals['_PLAYERACTION']._serialized_start=13447
+  _globals['_PLAYERACTION']._serialized_end=16756
+  _globals['_PLAYERACTIONS']._serialized_start=16758
+  _globals['_PLAYERACTIONS']._serialized_end=16839
+  _globals['_CHANGEPLAYERTYPE']._serialized_start=16841
+  _globals['_CHANGEPLAYERTYPE']._serialized_end=16897
+  _globals['_DOHELIOSSUBSTITUTE']._serialized_start=16899
+  _globals['_DOHELIOSSUBSTITUTE']._serialized_end=16919
+  _globals['_DOHELIOSSAYPLAYERTYPES']._serialized_start=16921
+  _globals['_DOHELIOSSAYPLAYERTYPES']._serialized_end=16945
+  _globals['_COACHACTION']._serialized_start=16948
+  _globals['_COACHACTION']._serialized_end=17158
+  _globals['_COACHACTIONS']._serialized_start=17160
+  _globals['_COACHACTIONS']._serialized_end=17212
+  _globals['_DOKICKOFF']._serialized_start=17214
+  _globals['_DOKICKOFF']._serialized_end=17225
+  _globals['_DOMOVEBALL']._serialized_start=17227
+  _globals['_DOMOVEBALL']._serialized_end=17317
+  _globals['_DOMOVEPLAYER']._serialized_start=17319
+  _globals['_DOMOVEPLAYER']._serialized_end=17438
+  _globals['_DORECOVER']._serialized_start=17440
+  _globals['_DORECOVER']._serialized_end=17451
+  _globals['_DOCHANGEMODE']._serialized_start=17453
+  _globals['_DOCHANGEMODE']._serialized_end=17541
+  _globals['_DOCHANGEPLAYERTYPE']._serialized_start=17543
+  _globals['_DOCHANGEPLAYERTYPE']._serialized_end=17619
+  _globals['_TRAINERACTION']._serialized_start=17622
+  _globals['_TRAINERACTION']._serialized_end=17931
+  _globals['_TRAINERACTIONS']._serialized_start=17933
+  _globals['_TRAINERACTIONS']._serialized_end=17989
+  _globals['_SERVERPARAM']._serialized_start=17992
+  _globals['_SERVERPARAM']._serialized_end=23717
+  _globals['_PLAYERPARAM']._serialized_start=23720
+  _globals['_PLAYERPARAM']._serialized_end=24757
+  _globals['_PLAYERTYPE']._serialized_start=24760
+  _globals['_PLAYERTYPE']._serialized_end=25719
+  _globals['_RPCCOOPERATIVEACTION']._serialized_start=25722
+  _globals['_RPCCOOPERATIVEACTION']._serialized_end=26151
+  _globals['_RPCPREDICTSTATE']._serialized_start=26154
+  _globals['_RPCPREDICTSTATE']._serialized_end=26361
+  _globals['_RPCACTIONSTATE']._serialized_start=26364
+  _globals['_RPCACTIONSTATE']._serialized_end=26494
+  _globals['_BESTPLANNERACTIONREQUEST']._serialized_start=26497
+  _globals['_BESTPLANNERACTIONREQUEST']._serialized_end=26736
+  _globals['_BESTPLANNERACTIONREQUEST_PAIRSENTRY']._serialized_start=26668
+  _globals['_BESTPLANNERACTIONREQUEST_PAIRSENTRY']._serialized_end=26736
+  _globals['_BESTPLANNERACTIONRESPONSE']._serialized_start=26738
+  _globals['_BESTPLANNERACTIONRESPONSE']._serialized_end=26780
+  _globals['_EMPTY']._serialized_start=26782
+  _globals['_EMPTY']._serialized_end=26789
+  _globals['_GAME']._serialized_start=28228
+  _globals['_GAME']._serialized_end=28863
 # @@protoc_insertion_point(module_scope)
diff --git a/service_pb2.pyi b/service_pb2.pyi
index e2f3e17..4fe9818 100644
--- a/service_pb2.pyi
+++ b/service_pb2.pyi
@@ -346,7 +346,7 @@ class Player(_message.Message):
     def __init__(self, position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., seen_position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., heard_position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., velocity: _Optional[_Union[RpcVector2D, _Mapping]] = ..., seen_velocity: _Optional[_Union[RpcVector2D, _Mapping]] = ..., pos_count: _Optional[int] = ..., seen_pos_count: _Optional[int] = ..., heard_pos_count: _Optional[int] = ..., vel_count: _Optional[int] = ..., seen_vel_count: _Optional[int] = ..., ghost_count: _Optional[int] = ..., dist_from_self: _Optional[float] = ..., angle_from_self: _Optional[float] = ..., id: _Optional[int] = ..., side: _Optional[_Union[Side, str]] = ..., uniform_number: _Optional[int] = ..., uniform_number_count: _Optional[int] = ..., is_goalie: bool = ..., body_direction: _Optional[float] = ..., body_direction_count: _Optional[int] = ..., face_direction: _Optional[float] = ..., face_direction_count: _Optional[int] = ..., point_to_direction: _Optional[float] = ..., point_to_direction_count: _Optional[int] = ..., is_kicking: bool = ..., dist_from_ball: _Optional[float] = ..., angle_from_ball: _Optional[float] = ..., ball_reach_steps: _Optional[int] = ..., is_tackling: bool = ..., type_id: _Optional[int] = ...) -> None: ...
 
 class Self(_message.Message):
-    __slots__ = ("position", "seen_position", "heard_position", "velocity", "seen_velocity", "pos_count", "seen_pos_count", "heard_pos_count", "vel_count", "seen_vel_count", "ghost_count", "id", "side", "uniform_number", "uniform_number_count", "is_goalie", "body_direction", "body_direction_count", "face_direction", "face_direction_count", "point_to_direction", "point_to_direction_count", "is_kicking", "dist_from_ball", "angle_from_ball", "ball_reach_steps", "is_tackling", "relative_neck_direction", "stamina", "is_kickable", "catch_probability", "tackle_probability", "foul_probability", "view_width", "type_id", "kick_rate", "recovery", "stamina_capacity", "card")
+    __slots__ = ("position", "seen_position", "heard_position", "velocity", "seen_velocity", "pos_count", "seen_pos_count", "heard_pos_count", "vel_count", "seen_vel_count", "ghost_count", "id", "side", "uniform_number", "uniform_number_count", "is_goalie", "body_direction", "body_direction_count", "face_direction", "face_direction_count", "point_to_direction", "point_to_direction_count", "is_kicking", "dist_from_ball", "angle_from_ball", "ball_reach_steps", "is_tackling", "relative_neck_direction", "stamina", "is_kickable", "catch_probability", "tackle_probability", "foul_probability", "view_width", "type_id", "kick_rate", "recovery", "stamina_capacity", "card", "catch_time")
     POSITION_FIELD_NUMBER: _ClassVar[int]
     SEEN_POSITION_FIELD_NUMBER: _ClassVar[int]
     HEARD_POSITION_FIELD_NUMBER: _ClassVar[int]
@@ -386,6 +386,7 @@ class Self(_message.Message):
     RECOVERY_FIELD_NUMBER: _ClassVar[int]
     STAMINA_CAPACITY_FIELD_NUMBER: _ClassVar[int]
     CARD_FIELD_NUMBER: _ClassVar[int]
+    CATCH_TIME_FIELD_NUMBER: _ClassVar[int]
     position: RpcVector2D
     seen_position: RpcVector2D
     heard_position: RpcVector2D
@@ -425,7 +426,8 @@ class Self(_message.Message):
     recovery: float
     stamina_capacity: float
     card: CardType
-    def __init__(self, position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., seen_position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., heard_position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., velocity: _Optional[_Union[RpcVector2D, _Mapping]] = ..., seen_velocity: _Optional[_Union[RpcVector2D, _Mapping]] = ..., pos_count: _Optional[int] = ..., seen_pos_count: _Optional[int] = ..., heard_pos_count: _Optional[int] = ..., vel_count: _Optional[int] = ..., seen_vel_count: _Optional[int] = ..., ghost_count: _Optional[int] = ..., id: _Optional[int] = ..., side: _Optional[_Union[Side, str]] = ..., uniform_number: _Optional[int] = ..., uniform_number_count: _Optional[int] = ..., is_goalie: bool = ..., body_direction: _Optional[float] = ..., body_direction_count: _Optional[int] = ..., face_direction: _Optional[float] = ..., face_direction_count: _Optional[int] = ..., point_to_direction: _Optional[float] = ..., point_to_direction_count: _Optional[int] = ..., is_kicking: bool = ..., dist_from_ball: _Optional[float] = ..., angle_from_ball: _Optional[float] = ..., ball_reach_steps: _Optional[int] = ..., is_tackling: bool = ..., relative_neck_direction: _Optional[float] = ..., stamina: _Optional[float] = ..., is_kickable: bool = ..., catch_probability: _Optional[float] = ..., tackle_probability: _Optional[float] = ..., foul_probability: _Optional[float] = ..., view_width: _Optional[_Union[ViewWidth, str]] = ..., type_id: _Optional[int] = ..., kick_rate: _Optional[float] = ..., recovery: _Optional[float] = ..., stamina_capacity: _Optional[float] = ..., card: _Optional[_Union[CardType, str]] = ...) -> None: ...
+    catch_time: int
+    def __init__(self, position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., seen_position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., heard_position: _Optional[_Union[RpcVector2D, _Mapping]] = ..., velocity: _Optional[_Union[RpcVector2D, _Mapping]] = ..., seen_velocity: _Optional[_Union[RpcVector2D, _Mapping]] = ..., pos_count: _Optional[int] = ..., seen_pos_count: _Optional[int] = ..., heard_pos_count: _Optional[int] = ..., vel_count: _Optional[int] = ..., seen_vel_count: _Optional[int] = ..., ghost_count: _Optional[int] = ..., id: _Optional[int] = ..., side: _Optional[_Union[Side, str]] = ..., uniform_number: _Optional[int] = ..., uniform_number_count: _Optional[int] = ..., is_goalie: bool = ..., body_direction: _Optional[float] = ..., body_direction_count: _Optional[int] = ..., face_direction: _Optional[float] = ..., face_direction_count: _Optional[int] = ..., point_to_direction: _Optional[float] = ..., point_to_direction_count: _Optional[int] = ..., is_kicking: bool = ..., dist_from_ball: _Optional[float] = ..., angle_from_ball: _Optional[float] = ..., ball_reach_steps: _Optional[int] = ..., is_tackling: bool = ..., relative_neck_direction: _Optional[float] = ..., stamina: _Optional[float] = ..., is_kickable: bool = ..., catch_probability: _Optional[float] = ..., tackle_probability: _Optional[float] = ..., foul_probability: _Optional[float] = ..., view_width: _Optional[_Union[ViewWidth, str]] = ..., type_id: _Optional[int] = ..., kick_rate: _Optional[float] = ..., recovery: _Optional[float] = ..., stamina_capacity: _Optional[float] = ..., card: _Optional[_Union[CardType, str]] = ..., catch_time: _Optional[int] = ...) -> None: ...
 
 class InterceptInfo(_message.Message):
     __slots__ = ("action_type", "turn_steps", "turn_angle", "dash_steps", "dash_power", "dash_dir", "final_self_position", "final_ball_dist", "final_stamina", "value")