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+# Protocol Documentation
+<a name="top"></a>
+
+
+## Version: 1.4
+
+## Table of Contents
+
+- [idl/grpc/service.proto](#idl_grpc_service-proto)
+    - [AddArc](#protos-AddArc)
+    - [AddCircle](#protos-AddCircle)
+    - [AddLine](#protos-AddLine)
+    - [AddMessage](#protos-AddMessage)
+    - [AddPoint](#protos-AddPoint)
+    - [AddRectangle](#protos-AddRectangle)
+    - [AddSector](#protos-AddSector)
+    - [AddText](#protos-AddText)
+    - [AddTriangle](#protos-AddTriangle)
+    - [AttentionTo](#protos-AttentionTo)
+    - [AttentionToOf](#protos-AttentionToOf)
+    - [Ball](#protos-Ball)
+    - [BallGoalieMessage](#protos-BallGoalieMessage)
+    - [BallMessage](#protos-BallMessage)
+    - [BallPlayerMessage](#protos-BallPlayerMessage)
+    - [BestPlannerActionRequest](#protos-BestPlannerActionRequest)
+    - [BestPlannerActionRequest.PairsEntry](#protos-BestPlannerActionRequest-PairsEntry)
+    - [BestPlannerActionResponse](#protos-BestPlannerActionResponse)
+    - [Bhv_BeforeKickOff](#protos-Bhv_BeforeKickOff)
+    - [Bhv_BodyNeckToBall](#protos-Bhv_BodyNeckToBall)
+    - [Bhv_BodyNeckToPoint](#protos-Bhv_BodyNeckToPoint)
+    - [Bhv_Emergency](#protos-Bhv_Emergency)
+    - [Bhv_GoToPointLookBall](#protos-Bhv_GoToPointLookBall)
+    - [Bhv_NeckBodyToBall](#protos-Bhv_NeckBodyToBall)
+    - [Bhv_NeckBodyToPoint](#protos-Bhv_NeckBodyToPoint)
+    - [Bhv_ScanField](#protos-Bhv_ScanField)
+    - [Body_AdvanceBall](#protos-Body_AdvanceBall)
+    - [Body_ClearBall](#protos-Body_ClearBall)
+    - [Body_Dribble](#protos-Body_Dribble)
+    - [Body_GoToPoint](#protos-Body_GoToPoint)
+    - [Body_GoToPointDodge](#protos-Body_GoToPointDodge)
+    - [Body_HoldBall](#protos-Body_HoldBall)
+    - [Body_Intercept](#protos-Body_Intercept)
+    - [Body_KickOneStep](#protos-Body_KickOneStep)
+    - [Body_SmartKick](#protos-Body_SmartKick)
+    - [Body_StopBall](#protos-Body_StopBall)
+    - [Body_StopDash](#protos-Body_StopDash)
+    - [Body_TackleToPoint](#protos-Body_TackleToPoint)
+    - [Body_TurnToAngle](#protos-Body_TurnToAngle)
+    - [Body_TurnToBall](#protos-Body_TurnToBall)
+    - [Body_TurnToPoint](#protos-Body_TurnToPoint)
+    - [Catch](#protos-Catch)
+    - [ChangePlayerType](#protos-ChangePlayerType)
+    - [ChangeView](#protos-ChangeView)
+    - [CoachAction](#protos-CoachAction)
+    - [CoachActions](#protos-CoachActions)
+    - [Dash](#protos-Dash)
+    - [DebugClient](#protos-DebugClient)
+    - [DefenseLineMessage](#protos-DefenseLineMessage)
+    - [DoChangeMode](#protos-DoChangeMode)
+    - [DoChangePlayerType](#protos-DoChangePlayerType)
+    - [DoHeliosSayPlayerTypes](#protos-DoHeliosSayPlayerTypes)
+    - [DoHeliosSubstitute](#protos-DoHeliosSubstitute)
+    - [DoKickOff](#protos-DoKickOff)
+    - [DoMoveBall](#protos-DoMoveBall)
+    - [DoMovePlayer](#protos-DoMovePlayer)
+    - [DoRecover](#protos-DoRecover)
+    - [DribbleMessage](#protos-DribbleMessage)
+    - [Empty](#protos-Empty)
+    - [Focus_MoveToPoint](#protos-Focus_MoveToPoint)
+    - [Focus_Reset](#protos-Focus_Reset)
+    - [GoalieAndPlayerMessage](#protos-GoalieAndPlayerMessage)
+    - [GoalieMessage](#protos-GoalieMessage)
+    - [HeliosBasicMove](#protos-HeliosBasicMove)
+    - [HeliosBasicOffensive](#protos-HeliosBasicOffensive)
+    - [HeliosCommunicaion](#protos-HeliosCommunicaion)
+    - [HeliosGoalie](#protos-HeliosGoalie)
+    - [HeliosGoalieKick](#protos-HeliosGoalieKick)
+    - [HeliosGoalieMove](#protos-HeliosGoalieMove)
+    - [HeliosOffensivePlanner](#protos-HeliosOffensivePlanner)
+    - [HeliosPenalty](#protos-HeliosPenalty)
+    - [HeliosSetPlay](#protos-HeliosSetPlay)
+    - [HeliosShoot](#protos-HeliosShoot)
+    - [InitMessage](#protos-InitMessage)
+    - [InterceptInfo](#protos-InterceptInfo)
+    - [InterceptMessage](#protos-InterceptMessage)
+    - [InterceptTable](#protos-InterceptTable)
+    - [Kick](#protos-Kick)
+    - [Log](#protos-Log)
+    - [Move](#protos-Move)
+    - [Neck_ScanField](#protos-Neck_ScanField)
+    - [Neck_ScanPlayers](#protos-Neck_ScanPlayers)
+    - [Neck_TurnToBall](#protos-Neck_TurnToBall)
+    - [Neck_TurnToBallAndPlayer](#protos-Neck_TurnToBallAndPlayer)
+    - [Neck_TurnToBallOrScan](#protos-Neck_TurnToBallOrScan)
+    - [Neck_TurnToGoalieOrScan](#protos-Neck_TurnToGoalieOrScan)
+    - [Neck_TurnToLowConfTeammate](#protos-Neck_TurnToLowConfTeammate)
+    - [Neck_TurnToPlayerOrScan](#protos-Neck_TurnToPlayerOrScan)
+    - [Neck_TurnToPoint](#protos-Neck_TurnToPoint)
+    - [Neck_TurnToRelative](#protos-Neck_TurnToRelative)
+    - [OffsideLineMessage](#protos-OffsideLineMessage)
+    - [OnePlayerMessage](#protos-OnePlayerMessage)
+    - [OpponentMessage](#protos-OpponentMessage)
+    - [PassMessage](#protos-PassMessage)
+    - [PassRequestMessage](#protos-PassRequestMessage)
+    - [PenaltyKickState](#protos-PenaltyKickState)
+    - [Player](#protos-Player)
+    - [PlayerAction](#protos-PlayerAction)
+    - [PlayerActions](#protos-PlayerActions)
+    - [PlayerParam](#protos-PlayerParam)
+    - [PlayerType](#protos-PlayerType)
+    - [PointTo](#protos-PointTo)
+    - [PointToOf](#protos-PointToOf)
+    - [RecoveryMessage](#protos-RecoveryMessage)
+    - [RegisterRequest](#protos-RegisterRequest)
+    - [RegisterResponse](#protos-RegisterResponse)
+    - [RpcActionState](#protos-RpcActionState)
+    - [RpcCooperativeAction](#protos-RpcCooperativeAction)
+    - [RpcPredictState](#protos-RpcPredictState)
+    - [RpcVector2D](#protos-RpcVector2D)
+    - [Say](#protos-Say)
+    - [Self](#protos-Self)
+    - [SelfMessage](#protos-SelfMessage)
+    - [ServerParam](#protos-ServerParam)
+    - [SetplayMessage](#protos-SetplayMessage)
+    - [StaminaCapacityMessage](#protos-StaminaCapacityMessage)
+    - [StaminaMessage](#protos-StaminaMessage)
+    - [State](#protos-State)
+    - [Tackle](#protos-Tackle)
+    - [TeammateMessage](#protos-TeammateMessage)
+    - [ThreePlayerMessage](#protos-ThreePlayerMessage)
+    - [TrainerAction](#protos-TrainerAction)
+    - [TrainerActions](#protos-TrainerActions)
+    - [Turn](#protos-Turn)
+    - [TurnNeck](#protos-TurnNeck)
+    - [TwoPlayerMessage](#protos-TwoPlayerMessage)
+    - [View_ChangeWidth](#protos-View_ChangeWidth)
+    - [View_Normal](#protos-View_Normal)
+    - [View_Synch](#protos-View_Synch)
+    - [View_Wide](#protos-View_Wide)
+    - [WaitRequestMessage](#protos-WaitRequestMessage)
+    - [WorldModel](#protos-WorldModel)
+    - [WorldModel.HeliosHomePositionsEntry](#protos-WorldModel-HeliosHomePositionsEntry)
+    - [WorldModel.OurPlayersDictEntry](#protos-WorldModel-OurPlayersDictEntry)
+    - [WorldModel.TheirPlayersDictEntry](#protos-WorldModel-TheirPlayersDictEntry)
+    - [bhv_doForceKick](#protos-bhv_doForceKick)
+    - [bhv_doHeardPassRecieve](#protos-bhv_doHeardPassRecieve)
+  
+    - [AgentType](#protos-AgentType)
+    - [CardType](#protos-CardType)
+    - [GameModeType](#protos-GameModeType)
+    - [InterceptActionType](#protos-InterceptActionType)
+    - [LoggerLevel](#protos-LoggerLevel)
+    - [RpcActionCategory](#protos-RpcActionCategory)
+    - [RpcServerLanguageType](#protos-RpcServerLanguageType)
+    - [Side](#protos-Side)
+    - [ViewWidth](#protos-ViewWidth)
+  
+    - [Game](#protos-Game)
+  
+- [Scalar Value Types](#scalar-value-types)
+
+
+
+<a name="idl_grpc_service-proto"></a>
+<p align="right"><a href="#top">Top</a></p>
+
+## idl/grpc/service.proto
+
+
+
+<a name="protos-AddArc"></a>
+
+### AddArc
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| level | [LoggerLevel](#protos-LoggerLevel) |  |  |
+| center | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| radius | [float](#float) |  |  |
+| start_angle | [float](#float) |  |  |
+| span_angel | [float](#float) |  |  |
+| color | [string](#string) |  |  |
+
+
+
+
+
+
+<a name="protos-AddCircle"></a>
+
+### AddCircle
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| level | [LoggerLevel](#protos-LoggerLevel) |  |  |
+| center | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| radius | [float](#float) |  |  |
+| color | [string](#string) |  |  |
+| fill | [bool](#bool) |  |  |
+
+
+
+
+
+
+<a name="protos-AddLine"></a>
+
+### AddLine
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| level | [LoggerLevel](#protos-LoggerLevel) |  |  |
+| start | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| end | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| color | [string](#string) |  |  |
+
+
+
+
+
+
+<a name="protos-AddMessage"></a>
+
+### AddMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| level | [LoggerLevel](#protos-LoggerLevel) |  |  |
+| position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| message | [string](#string) |  |  |
+| color | [string](#string) |  |  |
+
+
+
+
+
+
+<a name="protos-AddPoint"></a>
+
+### AddPoint
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| level | [LoggerLevel](#protos-LoggerLevel) |  |  |
+| point | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| color | [string](#string) |  |  |
+
+
+
+
+
+
+<a name="protos-AddRectangle"></a>
+
+### AddRectangle
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| level | [LoggerLevel](#protos-LoggerLevel) |  |  |
+| left | [float](#float) |  |  |
+| top | [float](#float) |  |  |
+| length | [float](#float) |  |  |
+| width | [float](#float) |  |  |
+| color | [string](#string) |  |  |
+| fill | [bool](#bool) |  |  |
+
+
+
+
+
+
+<a name="protos-AddSector"></a>
+
+### AddSector
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| level | [LoggerLevel](#protos-LoggerLevel) |  |  |
+| center | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| min_radius | [float](#float) |  |  |
+| max_radius | [float](#float) |  |  |
+| start_angle | [float](#float) |  |  |
+| span_angel | [float](#float) |  |  |
+| color | [string](#string) |  |  |
+| fill | [bool](#bool) |  |  |
+
+
+
+
+
+
+<a name="protos-AddText"></a>
+
+### AddText
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| level | [LoggerLevel](#protos-LoggerLevel) |  |  |
+| message | [string](#string) |  |  |
+
+
+
+
+
+
+<a name="protos-AddTriangle"></a>
+
+### AddTriangle
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| level | [LoggerLevel](#protos-LoggerLevel) |  |  |
+| point1 | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| point2 | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| point3 | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| color | [string](#string) |  |  |
+| fill | [bool](#bool) |  |  |
+
+
+
+
+
+
+<a name="protos-AttentionTo"></a>
+
+### AttentionTo
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| side | [Side](#protos-Side) |  |  |
+| unum | [int32](#int32) |  |  |
+
+
+
+
+
+
+<a name="protos-AttentionToOf"></a>
+
+### AttentionToOf
+
+
+
+
+
+
+
+<a name="protos-Ball"></a>
+
+### Ball
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| relative_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| seen_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| heard_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| velocity | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| seen_velocity | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| heard_velocity | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| pos_count | [int32](#int32) |  |  |
+| seen_pos_count | [int32](#int32) |  |  |
+| heard_pos_count | [int32](#int32) |  |  |
+| vel_count | [int32](#int32) |  |  |
+| seen_vel_count | [int32](#int32) |  |  |
+| heard_vel_count | [int32](#int32) |  |  |
+| lost_count | [int32](#int32) |  |  |
+| ghost_count | [int32](#int32) |  |  |
+| dist_from_self | [float](#float) |  |  |
+| angle_from_self | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-BallGoalieMessage"></a>
+
+### BallGoalieMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| ball_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| ball_velocity | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| goalie_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| goalie_body_direction | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-BallMessage"></a>
+
+### BallMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| ball_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| ball_velocity | [RpcVector2D](#protos-RpcVector2D) |  |  |
+
+
+
+
+
+
+<a name="protos-BallPlayerMessage"></a>
+
+### BallPlayerMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| ball_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| ball_velocity | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| uniform_number | [int32](#int32) |  |  |
+| player_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| body_direction | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-BestPlannerActionRequest"></a>
+
+### BestPlannerActionRequest
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| register_response | [RegisterResponse](#protos-RegisterResponse) |  |  |
+| pairs | [BestPlannerActionRequest.PairsEntry](#protos-BestPlannerActionRequest-PairsEntry) | repeated |  |
+| state | [State](#protos-State) |  |  |
+
+
+
+
+
+
+<a name="protos-BestPlannerActionRequest-PairsEntry"></a>
+
+### BestPlannerActionRequest.PairsEntry
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| key | [int32](#int32) |  |  |
+| value | [RpcActionState](#protos-RpcActionState) |  |  |
+
+
+
+
+
+
+<a name="protos-BestPlannerActionResponse"></a>
+
+### BestPlannerActionResponse
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| index | [int32](#int32) |  |  |
+
+
+
+
+
+
+<a name="protos-Bhv_BeforeKickOff"></a>
+
+### Bhv_BeforeKickOff
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| point | [RpcVector2D](#protos-RpcVector2D) |  |  |
+
+
+
+
+
+
+<a name="protos-Bhv_BodyNeckToBall"></a>
+
+### Bhv_BodyNeckToBall
+
+
+
+
+
+
+
+<a name="protos-Bhv_BodyNeckToPoint"></a>
+
+### Bhv_BodyNeckToPoint
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| point | [RpcVector2D](#protos-RpcVector2D) |  |  |
+
+
+
+
+
+
+<a name="protos-Bhv_Emergency"></a>
+
+### Bhv_Emergency
+
+
+
+
+
+
+
+<a name="protos-Bhv_GoToPointLookBall"></a>
+
+### Bhv_GoToPointLookBall
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| target_point | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| distance_threshold | [float](#float) |  |  |
+| max_dash_power | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-Bhv_NeckBodyToBall"></a>
+
+### Bhv_NeckBodyToBall
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| angle_buf | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-Bhv_NeckBodyToPoint"></a>
+
+### Bhv_NeckBodyToPoint
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| point | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| angle_buf | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-Bhv_ScanField"></a>
+
+### Bhv_ScanField
+
+
+
+
+
+
+
+<a name="protos-Body_AdvanceBall"></a>
+
+### Body_AdvanceBall
+
+
+
+
+
+
+
+<a name="protos-Body_ClearBall"></a>
+
+### Body_ClearBall
+
+
+
+
+
+
+
+<a name="protos-Body_Dribble"></a>
+
+### Body_Dribble
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| target_point | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| distance_threshold | [float](#float) |  |  |
+| dash_power | [float](#float) |  |  |
+| dash_count | [int32](#int32) |  |  |
+| dodge | [bool](#bool) |  |  |
+
+
+
+
+
+
+<a name="protos-Body_GoToPoint"></a>
+
+### Body_GoToPoint
+todo more variables
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| target_point | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| distance_threshold | [float](#float) |  |  |
+| max_dash_power | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-Body_GoToPointDodge"></a>
+
+### Body_GoToPointDodge
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| target_point | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| dash_power | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-Body_HoldBall"></a>
+
+### Body_HoldBall
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| do_turn | [bool](#bool) |  |  |
+| turn_target_point | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| kick_target_point | [RpcVector2D](#protos-RpcVector2D) |  |  |
+
+
+
+
+
+
+<a name="protos-Body_Intercept"></a>
+
+### Body_Intercept
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| save_recovery | [bool](#bool) |  |  |
+| face_point | [RpcVector2D](#protos-RpcVector2D) |  |  |
+
+
+
+
+
+
+<a name="protos-Body_KickOneStep"></a>
+
+### Body_KickOneStep
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| target_point | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| first_speed | [float](#float) |  |  |
+| force_mode | [bool](#bool) |  |  |
+
+
+
+
+
+
+<a name="protos-Body_SmartKick"></a>
+
+### Body_SmartKick
+todo more variables
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| target_point | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| first_speed | [float](#float) |  |  |
+| first_speed_threshold | [float](#float) |  |  |
+| max_steps | [int32](#int32) |  |  |
+
+
+
+
+
+
+<a name="protos-Body_StopBall"></a>
+
+### Body_StopBall
+
+
+
+
+
+
+
+<a name="protos-Body_StopDash"></a>
+
+### Body_StopDash
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| save_recovery | [bool](#bool) |  |  |
+
+
+
+
+
+
+<a name="protos-Body_TackleToPoint"></a>
+
+### Body_TackleToPoint
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| target_point | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| min_probability | [float](#float) |  |  |
+| min_speed | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-Body_TurnToAngle"></a>
+
+### Body_TurnToAngle
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| angle | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-Body_TurnToBall"></a>
+
+### Body_TurnToBall
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| cycle | [int32](#int32) |  |  |
+
+
+
+
+
+
+<a name="protos-Body_TurnToPoint"></a>
+
+### Body_TurnToPoint
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| target_point | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| cycle | [int32](#int32) |  |  |
+
+
+
+
+
+
+<a name="protos-Catch"></a>
+
+### Catch
+
+
+
+
+
+
+
+<a name="protos-ChangePlayerType"></a>
+
+### ChangePlayerType
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| uniform_number | [int32](#int32) |  |  |
+| type | [int32](#int32) |  |  |
+
+
+
+
+
+
+<a name="protos-ChangeView"></a>
+
+### ChangeView
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| view_width | [ViewWidth](#protos-ViewWidth) |  |  |
+
+
+
+
+
+
+<a name="protos-CoachAction"></a>
+
+### CoachAction
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| change_player_types | [ChangePlayerType](#protos-ChangePlayerType) |  |  |
+| do_helios_substitute | [DoHeliosSubstitute](#protos-DoHeliosSubstitute) |  |  |
+| do_helios_say_player_types | [DoHeliosSayPlayerTypes](#protos-DoHeliosSayPlayerTypes) |  |  |
+
+
+
+
+
+
+<a name="protos-CoachActions"></a>
+
+### CoachActions
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| actions | [CoachAction](#protos-CoachAction) | repeated |  |
+
+
+
+
+
+
+<a name="protos-Dash"></a>
+
+### Dash
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| power | [float](#float) |  |  |
+| relative_direction | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-DebugClient"></a>
+
+### DebugClient
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| message | [string](#string) |  |  |
+
+
+
+
+
+
+<a name="protos-DefenseLineMessage"></a>
+
+### DefenseLineMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| defense_line_x | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-DoChangeMode"></a>
+
+### DoChangeMode
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| game_mode_type | [GameModeType](#protos-GameModeType) |  |  |
+| side | [Side](#protos-Side) |  | some of the game mode need to know the side |
+
+
+
+
+
+
+<a name="protos-DoChangePlayerType"></a>
+
+### DoChangePlayerType
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| our_side | [bool](#bool) |  |  |
+| uniform_number | [int32](#int32) |  |  |
+| type | [int32](#int32) |  |  |
+
+
+
+
+
+
+<a name="protos-DoHeliosSayPlayerTypes"></a>
+
+### DoHeliosSayPlayerTypes
+
+
+
+
+
+
+
+<a name="protos-DoHeliosSubstitute"></a>
+
+### DoHeliosSubstitute
+
+
+
+
+
+
+
+<a name="protos-DoKickOff"></a>
+
+### DoKickOff
+
+
+
+
+
+
+
+<a name="protos-DoMoveBall"></a>
+
+### DoMoveBall
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| velocity | [RpcVector2D](#protos-RpcVector2D) |  |  |
+
+
+
+
+
+
+<a name="protos-DoMovePlayer"></a>
+
+### DoMovePlayer
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| our_side | [bool](#bool) |  |  |
+| uniform_number | [int32](#int32) |  |  |
+| position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| body_direction | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-DoRecover"></a>
+
+### DoRecover
+
+
+
+
+
+
+
+<a name="protos-DribbleMessage"></a>
+
+### DribbleMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| target_point | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| queue_count | [int32](#int32) |  |  |
+
+
+
+
+
+
+<a name="protos-Empty"></a>
+
+### Empty
+
+
+
+
+
+
+
+<a name="protos-Focus_MoveToPoint"></a>
+
+### Focus_MoveToPoint
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| target_point | [RpcVector2D](#protos-RpcVector2D) |  |  |
+
+
+
+
+
+
+<a name="protos-Focus_Reset"></a>
+
+### Focus_Reset
+
+
+
+
+
+
+
+<a name="protos-GoalieAndPlayerMessage"></a>
+
+### GoalieAndPlayerMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| goalie_uniform_number | [int32](#int32) |  |  |
+| goalie_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| goalie_body_direction | [float](#float) |  |  |
+| player_uniform_number | [int32](#int32) |  |  |
+| player_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+
+
+
+
+
+
+<a name="protos-GoalieMessage"></a>
+
+### GoalieMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| goalie_uniform_number | [int32](#int32) |  |  |
+| goalie_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| goalie_body_direction | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-HeliosBasicMove"></a>
+
+### HeliosBasicMove
+
+
+
+
+
+
+
+<a name="protos-HeliosBasicOffensive"></a>
+
+### HeliosBasicOffensive
+
+
+
+
+
+
+
+<a name="protos-HeliosCommunicaion"></a>
+
+### HeliosCommunicaion
+
+
+
+
+
+
+
+<a name="protos-HeliosGoalie"></a>
+
+### HeliosGoalie
+
+
+
+
+
+
+
+<a name="protos-HeliosGoalieKick"></a>
+
+### HeliosGoalieKick
+
+
+
+
+
+
+
+<a name="protos-HeliosGoalieMove"></a>
+
+### HeliosGoalieMove
+
+
+
+
+
+
+
+<a name="protos-HeliosOffensivePlanner"></a>
+
+### HeliosOffensivePlanner
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| direct_pass | [bool](#bool) |  |  |
+| lead_pass | [bool](#bool) |  |  |
+| through_pass | [bool](#bool) |  |  |
+| short_dribble | [bool](#bool) |  |  |
+| long_dribble | [bool](#bool) |  |  |
+| cross | [bool](#bool) |  |  |
+| simple_pass | [bool](#bool) |  |  |
+| simple_dribble | [bool](#bool) |  |  |
+| simple_shoot | [bool](#bool) |  |  |
+| server_side_decision | [bool](#bool) |  |  |
+
+
+
+
+
+
+<a name="protos-HeliosPenalty"></a>
+
+### HeliosPenalty
+
+
+
+
+
+
+
+<a name="protos-HeliosSetPlay"></a>
+
+### HeliosSetPlay
+
+
+
+
+
+
+
+<a name="protos-HeliosShoot"></a>
+
+### HeliosShoot
+
+
+
+
+
+
+
+<a name="protos-InitMessage"></a>
+
+### InitMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| register_response | [RegisterResponse](#protos-RegisterResponse) |  |  |
+| debug_mode | [bool](#bool) |  |  |
+
+
+
+
+
+
+<a name="protos-InterceptInfo"></a>
+
+### InterceptInfo
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| action_type | [InterceptActionType](#protos-InterceptActionType) |  |  |
+| turn_steps | [int32](#int32) |  |  |
+| turn_angle | [float](#float) |  |  |
+| dash_steps | [int32](#int32) |  |  |
+| dash_power | [float](#float) |  |  |
+| dash_dir | [float](#float) |  |  |
+| final_self_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| final_ball_dist | [float](#float) |  |  |
+| final_stamina | [float](#float) |  |  |
+| value | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-InterceptMessage"></a>
+
+### InterceptMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| our | [bool](#bool) |  |  |
+| uniform_number | [int32](#int32) |  |  |
+| cycle | [int32](#int32) |  |  |
+
+
+
+
+
+
+<a name="protos-InterceptTable"></a>
+
+### InterceptTable
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| self_reach_steps | [int32](#int32) |  |  |
+| first_teammate_reach_steps | [int32](#int32) |  |  |
+| second_teammate_reach_steps | [int32](#int32) |  |  |
+| first_opponent_reach_steps | [int32](#int32) |  |  |
+| second_opponent_reach_steps | [int32](#int32) |  |  |
+| first_teammate_id | [int32](#int32) |  |  |
+| second_teammate_id | [int32](#int32) |  |  |
+| first_opponent_id | [int32](#int32) |  |  |
+| second_opponent_id | [int32](#int32) |  |  |
+| self_intercept_info | [InterceptInfo](#protos-InterceptInfo) | repeated |  |
+
+
+
+
+
+
+<a name="protos-Kick"></a>
+
+### Kick
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| power | [float](#float) |  |  |
+| relative_direction | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-Log"></a>
+
+### Log
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| add_text | [AddText](#protos-AddText) |  |  |
+| add_point | [AddPoint](#protos-AddPoint) |  |  |
+| add_line | [AddLine](#protos-AddLine) |  |  |
+| add_arc | [AddArc](#protos-AddArc) |  |  |
+| add_circle | [AddCircle](#protos-AddCircle) |  |  |
+| add_triangle | [AddTriangle](#protos-AddTriangle) |  |  |
+| add_rectangle | [AddRectangle](#protos-AddRectangle) |  |  |
+| add_sector | [AddSector](#protos-AddSector) |  |  |
+| add_message | [AddMessage](#protos-AddMessage) |  |  |
+
+
+
+
+
+
+<a name="protos-Move"></a>
+
+### Move
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| x | [float](#float) |  |  |
+| y | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-Neck_ScanField"></a>
+
+### Neck_ScanField
+
+
+
+
+
+
+
+<a name="protos-Neck_ScanPlayers"></a>
+
+### Neck_ScanPlayers
+todo min/max_angle
+
+
+
+
+
+
+<a name="protos-Neck_TurnToBall"></a>
+
+### Neck_TurnToBall
+
+
+
+
+
+
+
+<a name="protos-Neck_TurnToBallAndPlayer"></a>
+
+### Neck_TurnToBallAndPlayer
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| side | [Side](#protos-Side) |  |  |
+| uniform_number | [int32](#int32) |  |  |
+| count_threshold | [int32](#int32) |  |  |
+
+
+
+
+
+
+<a name="protos-Neck_TurnToBallOrScan"></a>
+
+### Neck_TurnToBallOrScan
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| count_threshold | [int32](#int32) |  |  |
+
+
+
+
+
+
+<a name="protos-Neck_TurnToGoalieOrScan"></a>
+
+### Neck_TurnToGoalieOrScan
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| count_threshold | [int32](#int32) |  |  |
+
+
+
+
+
+
+<a name="protos-Neck_TurnToLowConfTeammate"></a>
+
+### Neck_TurnToLowConfTeammate
+
+
+
+
+
+
+
+<a name="protos-Neck_TurnToPlayerOrScan"></a>
+
+### Neck_TurnToPlayerOrScan
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| side | [Side](#protos-Side) |  |  |
+| uniform_number | [int32](#int32) |  |  |
+| count_threshold | [int32](#int32) |  |  |
+
+
+
+
+
+
+<a name="protos-Neck_TurnToPoint"></a>
+
+### Neck_TurnToPoint
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| target_point | [RpcVector2D](#protos-RpcVector2D) |  |  |
+
+
+
+
+
+
+<a name="protos-Neck_TurnToRelative"></a>
+
+### Neck_TurnToRelative
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| angle | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-OffsideLineMessage"></a>
+
+### OffsideLineMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| offside_line_x | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-OnePlayerMessage"></a>
+
+### OnePlayerMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| uniform_number | [int32](#int32) |  |  |
+| position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+
+
+
+
+
+
+<a name="protos-OpponentMessage"></a>
+
+### OpponentMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| uniform_number | [int32](#int32) |  |  |
+| position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| body_direction | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-PassMessage"></a>
+
+### PassMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| receiver_uniform_number | [int32](#int32) |  |  |
+| receiver_point | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| ball_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| ball_velocity | [RpcVector2D](#protos-RpcVector2D) |  |  |
+
+
+
+
+
+
+<a name="protos-PassRequestMessage"></a>
+
+### PassRequestMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| target_point | [RpcVector2D](#protos-RpcVector2D) |  |  |
+
+
+
+
+
+
+<a name="protos-PenaltyKickState"></a>
+
+### PenaltyKickState
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| on_field_side | [Side](#protos-Side) |  |  |
+| current_taker_side | [Side](#protos-Side) |  |  |
+| our_taker_counter | [int32](#int32) |  |  |
+| their_taker_counter | [int32](#int32) |  |  |
+| our_score | [int32](#int32) |  |  |
+| their_score | [int32](#int32) |  |  |
+| is_kick_taker | [bool](#bool) |  |  |
+
+
+
+
+
+
+<a name="protos-Player"></a>
+
+### Player
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| seen_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| heard_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| velocity | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| seen_velocity | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| pos_count | [int32](#int32) |  |  |
+| seen_pos_count | [int32](#int32) |  |  |
+| heard_pos_count | [int32](#int32) |  |  |
+| vel_count | [int32](#int32) |  |  |
+| seen_vel_count | [int32](#int32) |  |  |
+| ghost_count | [int32](#int32) |  |  |
+| dist_from_self | [float](#float) |  |  |
+| angle_from_self | [float](#float) |  |  |
+| id | [int32](#int32) |  |  |
+| side | [Side](#protos-Side) |  |  |
+| uniform_number | [int32](#int32) |  |  |
+| uniform_number_count | [int32](#int32) |  |  |
+| is_goalie | [bool](#bool) |  |  |
+| body_direction | [float](#float) |  |  |
+| body_direction_count | [int32](#int32) |  |  |
+| face_direction | [float](#float) |  |  |
+| face_direction_count | [int32](#int32) |  |  |
+| point_to_direction | [float](#float) |  |  |
+| point_to_direction_count | [int32](#int32) |  |  |
+| is_kicking | [bool](#bool) |  |  |
+| dist_from_ball | [float](#float) |  |  |
+| angle_from_ball | [float](#float) |  |  |
+| ball_reach_steps | [int32](#int32) |  |  |
+| is_tackling | [bool](#bool) |  |  |
+| type_id | [int32](#int32) |  |  |
+
+
+
+
+
+
+<a name="protos-PlayerAction"></a>
+
+### PlayerAction
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| dash | [Dash](#protos-Dash) |  |  |
+| turn | [Turn](#protos-Turn) |  |  |
+| kick | [Kick](#protos-Kick) |  |  |
+| tackle | [Tackle](#protos-Tackle) |  |  |
+| catch | [Catch](#protos-Catch) |  |  |
+| move | [Move](#protos-Move) |  |  |
+| turn_neck | [TurnNeck](#protos-TurnNeck) |  |  |
+| change_view | [ChangeView](#protos-ChangeView) |  |  |
+| say | [Say](#protos-Say) |  |  |
+| point_to | [PointTo](#protos-PointTo) |  |  |
+| point_to_of | [PointToOf](#protos-PointToOf) |  |  |
+| attention_to | [AttentionTo](#protos-AttentionTo) |  |  |
+| attention_to_of | [AttentionToOf](#protos-AttentionToOf) |  |  |
+| log | [Log](#protos-Log) |  |  |
+| debug_client | [DebugClient](#protos-DebugClient) |  |  |
+| body_go_to_point | [Body_GoToPoint](#protos-Body_GoToPoint) |  |  |
+| body_smart_kick | [Body_SmartKick](#protos-Body_SmartKick) |  |  |
+| bhv_before_kick_off | [Bhv_BeforeKickOff](#protos-Bhv_BeforeKickOff) |  |  |
+| bhv_body_neck_to_ball | [Bhv_BodyNeckToBall](#protos-Bhv_BodyNeckToBall) |  |  |
+| bhv_body_neck_to_point | [Bhv_BodyNeckToPoint](#protos-Bhv_BodyNeckToPoint) |  |  |
+| bhv_emergency | [Bhv_Emergency](#protos-Bhv_Emergency) |  |  |
+| bhv_go_to_point_look_ball | [Bhv_GoToPointLookBall](#protos-Bhv_GoToPointLookBall) |  |  |
+| bhv_neck_body_to_ball | [Bhv_NeckBodyToBall](#protos-Bhv_NeckBodyToBall) |  |  |
+| bhv_neck_body_to_point | [Bhv_NeckBodyToPoint](#protos-Bhv_NeckBodyToPoint) |  |  |
+| bhv_scan_field | [Bhv_ScanField](#protos-Bhv_ScanField) |  |  |
+| body_advance_ball | [Body_AdvanceBall](#protos-Body_AdvanceBall) |  |  |
+| body_clear_ball | [Body_ClearBall](#protos-Body_ClearBall) |  |  |
+| body_dribble | [Body_Dribble](#protos-Body_Dribble) |  |  |
+| body_go_to_point_dodge | [Body_GoToPointDodge](#protos-Body_GoToPointDodge) |  |  |
+| body_hold_ball | [Body_HoldBall](#protos-Body_HoldBall) |  |  |
+| body_intercept | [Body_Intercept](#protos-Body_Intercept) |  |  |
+| body_kick_one_step | [Body_KickOneStep](#protos-Body_KickOneStep) |  |  |
+| body_stop_ball | [Body_StopBall](#protos-Body_StopBall) |  |  |
+| body_stop_dash | [Body_StopDash](#protos-Body_StopDash) |  |  |
+| body_tackle_to_point | [Body_TackleToPoint](#protos-Body_TackleToPoint) |  |  |
+| body_turn_to_angle | [Body_TurnToAngle](#protos-Body_TurnToAngle) |  |  |
+| body_turn_to_ball | [Body_TurnToBall](#protos-Body_TurnToBall) |  |  |
+| body_turn_to_point | [Body_TurnToPoint](#protos-Body_TurnToPoint) |  |  |
+| focus_move_to_point | [Focus_MoveToPoint](#protos-Focus_MoveToPoint) |  |  |
+| focus_reset | [Focus_Reset](#protos-Focus_Reset) |  |  |
+| neck_scan_field | [Neck_ScanField](#protos-Neck_ScanField) |  |  |
+| neck_scan_players | [Neck_ScanPlayers](#protos-Neck_ScanPlayers) |  |  |
+| neck_turn_to_ball_and_player | [Neck_TurnToBallAndPlayer](#protos-Neck_TurnToBallAndPlayer) |  |  |
+| neck_turn_to_ball_or_scan | [Neck_TurnToBallOrScan](#protos-Neck_TurnToBallOrScan) |  |  |
+| neck_turn_to_ball | [Neck_TurnToBall](#protos-Neck_TurnToBall) |  |  |
+| neck_turn_to_goalie_or_scan | [Neck_TurnToGoalieOrScan](#protos-Neck_TurnToGoalieOrScan) |  |  |
+| neck_turn_to_low_conf_teammate | [Neck_TurnToLowConfTeammate](#protos-Neck_TurnToLowConfTeammate) |  |  |
+| neck_turn_to_player_or_scan | [Neck_TurnToPlayerOrScan](#protos-Neck_TurnToPlayerOrScan) |  |  |
+| neck_turn_to_point | [Neck_TurnToPoint](#protos-Neck_TurnToPoint) |  |  |
+| neck_turn_to_relative | [Neck_TurnToRelative](#protos-Neck_TurnToRelative) |  |  |
+| view_change_width | [View_ChangeWidth](#protos-View_ChangeWidth) |  |  |
+| view_normal | [View_Normal](#protos-View_Normal) |  |  |
+| view_synch | [View_Synch](#protos-View_Synch) |  |  |
+| view_wide | [View_Wide](#protos-View_Wide) |  |  |
+| helios_goalie | [HeliosGoalie](#protos-HeliosGoalie) |  |  |
+| helios_goalie_move | [HeliosGoalieMove](#protos-HeliosGoalieMove) |  |  |
+| helios_goalie_kick | [HeliosGoalieKick](#protos-HeliosGoalieKick) |  |  |
+| helios_shoot | [HeliosShoot](#protos-HeliosShoot) |  |  |
+| helios_offensive_planner | [HeliosOffensivePlanner](#protos-HeliosOffensivePlanner) |  |  |
+| helios_basic_offensive | [HeliosBasicOffensive](#protos-HeliosBasicOffensive) |  |  |
+| helios_basic_move | [HeliosBasicMove](#protos-HeliosBasicMove) |  |  |
+| helios_set_play | [HeliosSetPlay](#protos-HeliosSetPlay) |  |  |
+| helios_penalty | [HeliosPenalty](#protos-HeliosPenalty) |  |  |
+| helios_communication | [HeliosCommunicaion](#protos-HeliosCommunicaion) |  |  |
+| bhv_do_force_kick | [bhv_doForceKick](#protos-bhv_doForceKick) |  |  |
+| bhv_do_heard_pass_recieve | [bhv_doHeardPassRecieve](#protos-bhv_doHeardPassRecieve) |  |  |
+
+
+
+
+
+
+<a name="protos-PlayerActions"></a>
+
+### PlayerActions
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| actions | [PlayerAction](#protos-PlayerAction) | repeated |  |
+| ignore_preprocess | [bool](#bool) |  |  |
+| ignore_doforcekick | [bool](#bool) |  |  |
+| ignore_doHeardPassRecieve | [bool](#bool) |  |  |
+
+
+
+
+
+
+<a name="protos-PlayerParam"></a>
+
+### PlayerParam
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| register_response | [RegisterResponse](#protos-RegisterResponse) |  |  |
+| player_types | [int32](#int32) |  |  |
+| subs_max | [int32](#int32) |  |  |
+| pt_max | [int32](#int32) |  |  |
+| allow_mult_default_type | [bool](#bool) |  |  |
+| player_speed_max_delta_min | [float](#float) |  |  |
+| player_speed_max_delta_max | [float](#float) |  |  |
+| stamina_inc_max_delta_factor | [float](#float) |  |  |
+| player_decay_delta_min | [float](#float) |  |  |
+| player_decay_delta_max | [float](#float) |  |  |
+| inertia_moment_delta_factor | [float](#float) |  |  |
+| dash_power_rate_delta_min | [float](#float) |  |  |
+| dash_power_rate_delta_max | [float](#float) |  |  |
+| player_size_delta_factor | [float](#float) |  |  |
+| kickable_margin_delta_min | [float](#float) |  |  |
+| kickable_margin_delta_max | [float](#float) |  |  |
+| kick_rand_delta_factor | [float](#float) |  |  |
+| extra_stamina_delta_min | [float](#float) |  |  |
+| extra_stamina_delta_max | [float](#float) |  |  |
+| effort_max_delta_factor | [float](#float) |  |  |
+| effort_min_delta_factor | [float](#float) |  |  |
+| random_seed | [int32](#int32) |  |  |
+| new_dash_power_rate_delta_min | [float](#float) |  |  |
+| new_dash_power_rate_delta_max | [float](#float) |  |  |
+| new_stamina_inc_max_delta_factor | [float](#float) |  |  |
+| kick_power_rate_delta_min | [float](#float) |  |  |
+| kick_power_rate_delta_max | [float](#float) |  |  |
+| foul_detect_probability_delta_factor | [float](#float) |  |  |
+| catchable_area_l_stretch_min | [float](#float) |  |  |
+| catchable_area_l_stretch_max | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-PlayerType"></a>
+
+### PlayerType
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| register_response | [RegisterResponse](#protos-RegisterResponse) |  |  |
+| id | [int32](#int32) |  |  |
+| stamina_inc_max | [float](#float) |  |  |
+| player_decay | [float](#float) |  |  |
+| inertia_moment | [float](#float) |  |  |
+| dash_power_rate | [float](#float) |  |  |
+| player_size | [float](#float) |  |  |
+| kickable_margin | [float](#float) |  |  |
+| kick_rand | [float](#float) |  |  |
+| extra_stamina | [float](#float) |  |  |
+| effort_max | [float](#float) |  |  |
+| effort_min | [float](#float) |  |  |
+| kick_power_rate | [float](#float) |  |  |
+| foul_detect_probability | [float](#float) |  |  |
+| catchable_area_l_stretch | [float](#float) |  |  |
+| unum_far_length | [float](#float) |  |  |
+| unum_too_far_length | [float](#float) |  |  |
+| team_far_length | [float](#float) |  |  |
+| team_too_far_length | [float](#float) |  |  |
+| player_max_observation_length | [float](#float) |  |  |
+| ball_vel_far_length | [float](#float) |  |  |
+| ball_vel_too_far_length | [float](#float) |  |  |
+| ball_max_observation_length | [float](#float) |  |  |
+| flag_chg_far_length | [float](#float) |  |  |
+| flag_chg_too_far_length | [float](#float) |  |  |
+| flag_max_observation_length | [float](#float) |  |  |
+| kickable_area | [float](#float) |  |  |
+| reliable_catchable_dist | [float](#float) |  |  |
+| max_catchable_dist | [float](#float) |  |  |
+| real_speed_max | [float](#float) |  |  |
+| player_speed_max2 | [float](#float) |  |  |
+| real_speed_max2 | [float](#float) |  |  |
+| cycles_to_reach_max_speed | [int32](#int32) |  |  |
+| player_speed_max | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-PointTo"></a>
+
+### PointTo
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| x | [float](#float) |  |  |
+| y | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-PointToOf"></a>
+
+### PointToOf
+
+
+
+
+
+
+
+<a name="protos-RecoveryMessage"></a>
+
+### RecoveryMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| recovery | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-RegisterRequest"></a>
+
+### RegisterRequest
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| agent_type | [AgentType](#protos-AgentType) |  |  |
+| team_name | [string](#string) |  |  |
+| uniform_number | [int32](#int32) |  |  |
+| rpc_version | [int32](#int32) |  |  |
+
+
+
+
+
+
+<a name="protos-RegisterResponse"></a>
+
+### RegisterResponse
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| client_id | [int32](#int32) |  |  |
+| agent_type | [AgentType](#protos-AgentType) |  |  |
+| team_name | [string](#string) |  |  |
+| uniform_number | [int32](#int32) |  |  |
+| rpc_server_language_type | [RpcServerLanguageType](#protos-RpcServerLanguageType) |  |  |
+
+
+
+
+
+
+<a name="protos-RpcActionState"></a>
+
+### RpcActionState
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| action | [RpcCooperativeAction](#protos-RpcCooperativeAction) |  |  |
+| predict_state | [RpcPredictState](#protos-RpcPredictState) |  |  |
+| evaluation | [double](#double) |  |  |
+
+
+
+
+
+
+<a name="protos-RpcCooperativeAction"></a>
+
+### RpcCooperativeAction
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| category | [RpcActionCategory](#protos-RpcActionCategory) |  |  |
+| index | [int32](#int32) |  |  |
+| sender_unum | [int32](#int32) |  |  |
+| target_unum | [int32](#int32) |  |  |
+| target_point | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| first_ball_speed | [double](#double) |  |  |
+| first_turn_moment | [double](#double) |  |  |
+| first_dash_power | [double](#double) |  |  |
+| first_dash_angle_relative | [double](#double) |  |  |
+| duration_step | [int32](#int32) |  |  |
+| kick_count | [int32](#int32) |  |  |
+| turn_count | [int32](#int32) |  |  |
+| dash_count | [int32](#int32) |  |  |
+| final_action | [bool](#bool) |  |  |
+| description | [string](#string) |  |  |
+| parent_index | [int32](#int32) |  |  |
+
+
+
+
+
+
+<a name="protos-RpcPredictState"></a>
+
+### RpcPredictState
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| spend_time | [int32](#int32) |  |  |
+| ball_holder_unum | [int32](#int32) |  |  |
+| ball_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| ball_velocity | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| our_defense_line_x | [double](#double) |  |  |
+| our_offense_line_x | [double](#double) |  |  |
+
+
+
+
+
+
+<a name="protos-RpcVector2D"></a>
+
+### RpcVector2D
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| x | [float](#float) |  |  |
+| y | [float](#float) |  |  |
+| dist | [float](#float) |  |  |
+| angle | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-Say"></a>
+
+### Say
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| ball_message | [BallMessage](#protos-BallMessage) |  |  |
+| pass_message | [PassMessage](#protos-PassMessage) |  |  |
+| intercept_message | [InterceptMessage](#protos-InterceptMessage) |  |  |
+| goalie_message | [GoalieMessage](#protos-GoalieMessage) |  |  |
+| goalie_and_player_message | [GoalieAndPlayerMessage](#protos-GoalieAndPlayerMessage) |  |  |
+| offside_line_message | [OffsideLineMessage](#protos-OffsideLineMessage) |  |  |
+| defense_line_message | [DefenseLineMessage](#protos-DefenseLineMessage) |  |  |
+| wait_request_message | [WaitRequestMessage](#protos-WaitRequestMessage) |  |  |
+| setplay_message | [SetplayMessage](#protos-SetplayMessage) |  |  |
+| pass_request_message | [PassRequestMessage](#protos-PassRequestMessage) |  |  |
+| stamina_message | [StaminaMessage](#protos-StaminaMessage) |  |  |
+| recovery_message | [RecoveryMessage](#protos-RecoveryMessage) |  |  |
+| stamina_capacity_message | [StaminaCapacityMessage](#protos-StaminaCapacityMessage) |  |  |
+| dribble_message | [DribbleMessage](#protos-DribbleMessage) |  |  |
+| ball_goalie_message | [BallGoalieMessage](#protos-BallGoalieMessage) |  |  |
+| one_player_message | [OnePlayerMessage](#protos-OnePlayerMessage) |  |  |
+| two_player_message | [TwoPlayerMessage](#protos-TwoPlayerMessage) |  |  |
+| three_player_message | [ThreePlayerMessage](#protos-ThreePlayerMessage) |  |  |
+| self_message | [SelfMessage](#protos-SelfMessage) |  |  |
+| teammate_message | [TeammateMessage](#protos-TeammateMessage) |  |  |
+| opponent_message | [OpponentMessage](#protos-OpponentMessage) |  |  |
+| ball_player_message | [BallPlayerMessage](#protos-BallPlayerMessage) |  |  |
+
+
+
+
+
+
+<a name="protos-Self"></a>
+
+### Self
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| seen_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| heard_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| velocity | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| seen_velocity | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| pos_count | [int32](#int32) |  |  |
+| seen_pos_count | [int32](#int32) |  |  |
+| heard_pos_count | [int32](#int32) |  |  |
+| vel_count | [int32](#int32) |  |  |
+| seen_vel_count | [int32](#int32) |  |  |
+| ghost_count | [int32](#int32) |  |  |
+| id | [int32](#int32) |  |  |
+| side | [Side](#protos-Side) |  |  |
+| uniform_number | [int32](#int32) |  |  |
+| uniform_number_count | [int32](#int32) |  |  |
+| is_goalie | [bool](#bool) |  |  |
+| body_direction | [float](#float) |  |  |
+| body_direction_count | [int32](#int32) |  |  |
+| face_direction | [float](#float) |  |  |
+| face_direction_count | [int32](#int32) |  |  |
+| point_to_direction | [float](#float) |  |  |
+| point_to_direction_count | [int32](#int32) |  |  |
+| is_kicking | [bool](#bool) |  |  |
+| dist_from_ball | [float](#float) |  |  |
+| angle_from_ball | [float](#float) |  |  |
+| ball_reach_steps | [int32](#int32) |  |  |
+| is_tackling | [bool](#bool) |  |  |
+| relative_neck_direction | [float](#float) |  |  |
+| stamina | [float](#float) |  |  |
+| is_kickable | [bool](#bool) |  |  |
+| catch_probability | [float](#float) |  |  |
+| tackle_probability | [float](#float) |  |  |
+| foul_probability | [float](#float) |  |  |
+| view_width | [ViewWidth](#protos-ViewWidth) |  |  |
+| type_id | [int32](#int32) |  |  |
+| kick_rate | [float](#float) |  |  |
+| recovery | [float](#float) |  |  |
+| stamina_capacity | [float](#float) |  |  |
+| card | [CardType](#protos-CardType) |  |  |
+| catch_time | [int32](#int32) |  |  |
+| effort | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-SelfMessage"></a>
+
+### SelfMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| self_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| self_body_direction | [float](#float) |  |  |
+| self_stamina | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-ServerParam"></a>
+
+### ServerParam
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| register_response | [RegisterResponse](#protos-RegisterResponse) |  |  |
+| inertia_moment | [float](#float) |  |  |
+| player_size | [float](#float) |  |  |
+| player_decay | [float](#float) |  |  |
+| player_rand | [float](#float) |  |  |
+| player_weight | [float](#float) |  |  |
+| player_speed_max | [float](#float) |  |  |
+| player_accel_max | [float](#float) |  |  |
+| stamina_max | [float](#float) |  |  |
+| stamina_inc_max | [float](#float) |  |  |
+| recover_init | [float](#float) |  |  |
+| recover_dec_thr | [float](#float) |  |  |
+| recover_min | [float](#float) |  |  |
+| recover_dec | [float](#float) |  |  |
+| effort_init | [float](#float) |  |  |
+| effort_dec_thr | [float](#float) |  |  |
+| effort_min | [float](#float) |  |  |
+| effort_dec | [float](#float) |  |  |
+| effort_inc_thr | [float](#float) |  |  |
+| effort_inc | [float](#float) |  |  |
+| kick_rand | [float](#float) |  |  |
+| team_actuator_noise | [bool](#bool) |  |  |
+| player_rand_factor_l | [float](#float) |  |  |
+| player_rand_factor_r | [float](#float) |  |  |
+| kick_rand_factor_l | [float](#float) |  |  |
+| kick_rand_factor_r | [float](#float) |  |  |
+| ball_size | [float](#float) |  |  |
+| ball_decay | [float](#float) |  |  |
+| ball_rand | [float](#float) |  |  |
+| ball_weight | [float](#float) |  |  |
+| ball_speed_max | [float](#float) |  |  |
+| ball_accel_max | [float](#float) |  |  |
+| dash_power_rate | [float](#float) |  |  |
+| kick_power_rate | [float](#float) |  |  |
+| kickable_margin | [float](#float) |  |  |
+| control_radius | [float](#float) |  |  |
+| control_radius_width | [float](#float) |  |  |
+| max_power | [float](#float) |  |  |
+| min_power | [float](#float) |  |  |
+| max_moment | [float](#float) |  |  |
+| min_moment | [float](#float) |  |  |
+| max_neck_moment | [float](#float) |  |  |
+| min_neck_moment | [float](#float) |  |  |
+| max_neck_angle | [float](#float) |  |  |
+| min_neck_angle | [float](#float) |  |  |
+| visible_angle | [float](#float) |  |  |
+| visible_distance | [float](#float) |  |  |
+| wind_dir | [float](#float) |  |  |
+| wind_force | [float](#float) |  |  |
+| wind_angle | [float](#float) |  |  |
+| wind_rand | [float](#float) |  |  |
+| kickable_area | [float](#float) |  |  |
+| catch_area_l | [float](#float) |  |  |
+| catch_area_w | [float](#float) |  |  |
+| catch_probability | [float](#float) |  |  |
+| goalie_max_moves | [int32](#int32) |  |  |
+| corner_kick_margin | [float](#float) |  |  |
+| offside_active_area_size | [float](#float) |  |  |
+| wind_none | [bool](#bool) |  |  |
+| use_wind_random | [bool](#bool) |  |  |
+| coach_say_count_max | [int32](#int32) |  |  |
+| coach_say_msg_size | [int32](#int32) |  |  |
+| clang_win_size | [int32](#int32) |  |  |
+| clang_define_win | [int32](#int32) |  |  |
+| clang_meta_win | [int32](#int32) |  |  |
+| clang_advice_win | [int32](#int32) |  |  |
+| clang_info_win | [int32](#int32) |  |  |
+| clang_mess_delay | [int32](#int32) |  |  |
+| clang_mess_per_cycle | [int32](#int32) |  |  |
+| half_time | [int32](#int32) |  |  |
+| simulator_step | [int32](#int32) |  |  |
+| send_step | [int32](#int32) |  |  |
+| recv_step | [int32](#int32) |  |  |
+| sense_body_step | [int32](#int32) |  |  |
+| lcm_step | [int32](#int32) |  |  |
+| player_say_msg_size | [int32](#int32) |  |  |
+| player_hear_max | [int32](#int32) |  |  |
+| player_hear_inc | [int32](#int32) |  |  |
+| player_hear_decay | [int32](#int32) |  |  |
+| catch_ban_cycle | [int32](#int32) |  |  |
+| slow_down_factor | [int32](#int32) |  |  |
+| use_offside | [bool](#bool) |  |  |
+| kickoff_offside | [bool](#bool) |  |  |
+| offside_kick_margin | [float](#float) |  |  |
+| audio_cut_dist | [float](#float) |  |  |
+| dist_quantize_step | [float](#float) |  |  |
+| landmark_dist_quantize_step | [float](#float) |  |  |
+| dir_quantize_step | [float](#float) |  |  |
+| dist_quantize_step_l | [float](#float) |  |  |
+| dist_quantize_step_r | [float](#float) |  |  |
+| landmark_dist_quantize_step_l | [float](#float) |  |  |
+| landmark_dist_quantize_step_r | [float](#float) |  |  |
+| dir_quantize_step_l | [float](#float) |  |  |
+| dir_quantize_step_r | [float](#float) |  |  |
+| coach_mode | [bool](#bool) |  |  |
+| coach_with_referee_mode | [bool](#bool) |  |  |
+| use_old_coach_hear | [bool](#bool) |  |  |
+| slowness_on_top_for_left_team | [float](#float) |  |  |
+| slowness_on_top_for_right_team | [float](#float) |  |  |
+| start_goal_l | [int32](#int32) |  |  |
+| start_goal_r | [int32](#int32) |  |  |
+| fullstate_l | [bool](#bool) |  |  |
+| fullstate_r | [bool](#bool) |  |  |
+| drop_ball_time | [int32](#int32) |  |  |
+| synch_mode | [bool](#bool) |  |  |
+| synch_offset | [int32](#int32) |  |  |
+| synch_micro_sleep | [int32](#int32) |  |  |
+| point_to_ban | [int32](#int32) |  |  |
+| point_to_duration | [int32](#int32) |  |  |
+| player_port | [int32](#int32) |  |  |
+| trainer_port | [int32](#int32) |  |  |
+| online_coach_port | [int32](#int32) |  |  |
+| verbose_mode | [bool](#bool) |  |  |
+| coach_send_vi_step | [int32](#int32) |  |  |
+| replay_file | [string](#string) |  |  |
+| landmark_file | [string](#string) |  |  |
+| send_comms | [bool](#bool) |  |  |
+| text_logging | [bool](#bool) |  |  |
+| game_logging | [bool](#bool) |  |  |
+| game_log_version | [int32](#int32) |  |  |
+| text_log_dir | [string](#string) |  |  |
+| game_log_dir | [string](#string) |  |  |
+| text_log_fixed_name | [string](#string) |  |  |
+| game_log_fixed_name | [string](#string) |  |  |
+| use_text_log_fixed | [bool](#bool) |  |  |
+| use_game_log_fixed | [bool](#bool) |  |  |
+| use_text_log_dated | [bool](#bool) |  |  |
+| use_game_log_dated | [bool](#bool) |  |  |
+| log_date_format | [string](#string) |  |  |
+| log_times | [bool](#bool) |  |  |
+| record_message | [bool](#bool) |  |  |
+| text_log_compression | [int32](#int32) |  |  |
+| game_log_compression | [int32](#int32) |  |  |
+| use_profile | [bool](#bool) |  |  |
+| tackle_dist | [float](#float) |  |  |
+| tackle_back_dist | [float](#float) |  |  |
+| tackle_width | [float](#float) |  |  |
+| tackle_exponent | [float](#float) |  |  |
+| tackle_cycles | [int32](#int32) |  |  |
+| tackle_power_rate | [float](#float) |  |  |
+| freeform_wait_period | [int32](#int32) |  |  |
+| freeform_send_period | [int32](#int32) |  |  |
+| free_kick_faults | [bool](#bool) |  |  |
+| back_passes | [bool](#bool) |  |  |
+| proper_goal_kicks | [bool](#bool) |  |  |
+| stopped_ball_vel | [float](#float) |  |  |
+| max_goal_kicks | [int32](#int32) |  |  |
+| clang_del_win | [int32](#int32) |  |  |
+| clang_rule_win | [int32](#int32) |  |  |
+| auto_mode | [bool](#bool) |  |  |
+| kick_off_wait | [int32](#int32) |  |  |
+| connect_wait | [int32](#int32) |  |  |
+| game_over_wait | [int32](#int32) |  |  |
+| team_l_start | [string](#string) |  |  |
+| team_r_start | [string](#string) |  |  |
+| keepaway_mode | [bool](#bool) |  |  |
+| keepaway_length | [float](#float) |  |  |
+| keepaway_width | [float](#float) |  |  |
+| keepaway_logging | [bool](#bool) |  |  |
+| keepaway_log_dir | [string](#string) |  |  |
+| keepaway_log_fixed_name | [string](#string) |  |  |
+| keepaway_log_fixed | [bool](#bool) |  |  |
+| keepaway_log_dated | [bool](#bool) |  |  |
+| keepaway_start | [int32](#int32) |  |  |
+| nr_normal_halfs | [int32](#int32) |  |  |
+| nr_extra_halfs | [int32](#int32) |  |  |
+| penalty_shoot_outs | [bool](#bool) |  |  |
+| pen_before_setup_wait | [int32](#int32) |  |  |
+| pen_setup_wait | [int32](#int32) |  |  |
+| pen_ready_wait | [int32](#int32) |  |  |
+| pen_taken_wait | [int32](#int32) |  |  |
+| pen_nr_kicks | [int32](#int32) |  |  |
+| pen_max_extra_kicks | [int32](#int32) |  |  |
+| pen_dist_x | [float](#float) |  |  |
+| pen_random_winner | [bool](#bool) |  |  |
+| pen_allow_mult_kicks | [bool](#bool) |  |  |
+| pen_max_goalie_dist_x | [float](#float) |  |  |
+| pen_coach_moves_players | [bool](#bool) |  |  |
+| module_dir | [string](#string) |  |  |
+| ball_stuck_area | [float](#float) |  |  |
+| coach_msg_file | [string](#string) |  |  |
+| max_tackle_power | [float](#float) |  |  |
+| max_back_tackle_power | [float](#float) |  |  |
+| player_speed_max_min | [float](#float) |  |  |
+| extra_stamina | [float](#float) |  |  |
+| synch_see_offset | [int32](#int32) |  |  |
+| extra_half_time | [int32](#int32) |  |  |
+| stamina_capacity | [float](#float) |  |  |
+| max_dash_angle | [float](#float) |  |  |
+| min_dash_angle | [float](#float) |  |  |
+| dash_angle_step | [float](#float) |  |  |
+| side_dash_rate | [float](#float) |  |  |
+| back_dash_rate | [float](#float) |  |  |
+| max_dash_power | [float](#float) |  |  |
+| min_dash_power | [float](#float) |  |  |
+| tackle_rand_factor | [float](#float) |  |  |
+| foul_detect_probability | [float](#float) |  |  |
+| foul_exponent | [float](#float) |  |  |
+| foul_cycles | [int32](#int32) |  |  |
+| golden_goal | [bool](#bool) |  |  |
+| red_card_probability | [float](#float) |  |  |
+| illegal_defense_duration | [int32](#int32) |  |  |
+| illegal_defense_number | [int32](#int32) |  |  |
+| illegal_defense_dist_x | [float](#float) |  |  |
+| illegal_defense_width | [float](#float) |  |  |
+| fixed_teamname_l | [string](#string) |  |  |
+| fixed_teamname_r | [string](#string) |  |  |
+| max_catch_angle | [float](#float) |  |  |
+| min_catch_angle | [float](#float) |  |  |
+| random_seed | [int32](#int32) |  |  |
+| long_kick_power_factor | [float](#float) |  |  |
+| long_kick_delay | [int32](#int32) |  |  |
+| max_monitors | [int32](#int32) |  |  |
+| catchable_area | [float](#float) |  |  |
+| real_speed_max | [float](#float) |  |  |
+| pitch_half_length | [float](#float) |  |  |
+| pitch_half_width | [float](#float) |  |  |
+| our_penalty_area_line_x | [float](#float) |  |  |
+| their_penalty_area_line_x | [float](#float) |  |  |
+| penalty_area_half_width | [float](#float) |  |  |
+| penalty_area_length | [float](#float) |  |  |
+| goal_width | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-SetplayMessage"></a>
+
+### SetplayMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| wait_step | [int32](#int32) |  |  |
+
+
+
+
+
+
+<a name="protos-StaminaCapacityMessage"></a>
+
+### StaminaCapacityMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| stamina_capacity | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-StaminaMessage"></a>
+
+### StaminaMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| stamina | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-State"></a>
+
+### State
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| register_response | [RegisterResponse](#protos-RegisterResponse) |  |  |
+| world_model | [WorldModel](#protos-WorldModel) |  |  |
+| full_world_model | [WorldModel](#protos-WorldModel) |  |  |
+| need_preprocess | [bool](#bool) |  |  |
+
+
+
+
+
+
+<a name="protos-Tackle"></a>
+
+### Tackle
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| power_or_dir | [float](#float) |  |  |
+| foul | [bool](#bool) |  |  |
+
+
+
+
+
+
+<a name="protos-TeammateMessage"></a>
+
+### TeammateMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| uniform_number | [int32](#int32) |  |  |
+| position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| body_direction | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-ThreePlayerMessage"></a>
+
+### ThreePlayerMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| first_uniform_number | [int32](#int32) |  |  |
+| first_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| second_uniform_number | [int32](#int32) |  |  |
+| second_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| third_uniform_number | [int32](#int32) |  |  |
+| third_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+
+
+
+
+
+
+<a name="protos-TrainerAction"></a>
+
+### TrainerAction
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| do_kick_off | [DoKickOff](#protos-DoKickOff) |  |  |
+| do_move_ball | [DoMoveBall](#protos-DoMoveBall) |  |  |
+| do_move_player | [DoMovePlayer](#protos-DoMovePlayer) |  |  |
+| do_recover | [DoRecover](#protos-DoRecover) |  |  |
+| do_change_mode | [DoChangeMode](#protos-DoChangeMode) |  |  |
+| do_change_player_type | [DoChangePlayerType](#protos-DoChangePlayerType) |  |  |
+
+
+
+
+
+
+<a name="protos-TrainerActions"></a>
+
+### TrainerActions
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| actions | [TrainerAction](#protos-TrainerAction) | repeated |  |
+
+
+
+
+
+
+<a name="protos-Turn"></a>
+
+### Turn
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| relative_direction | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-TurnNeck"></a>
+
+### TurnNeck
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| moment | [float](#float) |  |  |
+
+
+
+
+
+
+<a name="protos-TwoPlayerMessage"></a>
+
+### TwoPlayerMessage
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| first_uniform_number | [int32](#int32) |  |  |
+| first_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+| second_uniform_number | [int32](#int32) |  |  |
+| second_position | [RpcVector2D](#protos-RpcVector2D) |  |  |
+
+
+
+
+
+
+<a name="protos-View_ChangeWidth"></a>
+
+### View_ChangeWidth
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| view_width | [ViewWidth](#protos-ViewWidth) |  |  |
+
+
+
+
+
+
+<a name="protos-View_Normal"></a>
+
+### View_Normal
+
+
+
+
+
+
+
+<a name="protos-View_Synch"></a>
+
+### View_Synch
+
+
+
+
+
+
+
+<a name="protos-View_Wide"></a>
+
+### View_Wide
+
+
+
+
+
+
+
+<a name="protos-WaitRequestMessage"></a>
+
+### WaitRequestMessage
+
+
+
+
+
+
+
+<a name="protos-WorldModel"></a>
+
+### WorldModel
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| intercept_table | [InterceptTable](#protos-InterceptTable) |  |  |
+| our_team_name | [string](#string) |  |  |
+| their_team_name | [string](#string) |  |  |
+| our_side | [Side](#protos-Side) |  |  |
+| last_set_play_start_time | [int32](#int32) |  |  |
+| self | [Self](#protos-Self) |  |  |
+| ball | [Ball](#protos-Ball) |  |  |
+| teammates | [Player](#protos-Player) | repeated |  |
+| opponents | [Player](#protos-Player) | repeated |  |
+| unknowns | [Player](#protos-Player) | repeated |  |
+| our_players_dict | [WorldModel.OurPlayersDictEntry](#protos-WorldModel-OurPlayersDictEntry) | repeated |  |
+| their_players_dict | [WorldModel.TheirPlayersDictEntry](#protos-WorldModel-TheirPlayersDictEntry) | repeated |  |
+| our_goalie_uniform_number | [int32](#int32) |  |  |
+| their_goalie_uniform_number | [int32](#int32) |  |  |
+| offside_line_x | [float](#float) |  |  |
+| ofside_line_x_count | [int32](#int32) |  |  |
+| kickable_teammate_id | [int32](#int32) |  |  |
+| kickable_opponent_id | [int32](#int32) |  |  |
+| last_kick_side | [Side](#protos-Side) |  |  |
+| last_kicker_uniform_number | [int32](#int32) |  |  |
+| cycle | [int32](#int32) |  |  |
+| game_mode_type | [GameModeType](#protos-GameModeType) |  |  |
+| left_team_score | [int32](#int32) |  |  |
+| right_team_score | [int32](#int32) |  |  |
+| is_our_set_play | [bool](#bool) |  |  |
+| is_their_set_play | [bool](#bool) |  |  |
+| stoped_cycle | [int32](#int32) |  |  |
+| our_team_score | [int32](#int32) |  |  |
+| their_team_score | [int32](#int32) |  |  |
+| is_penalty_kick_mode | [bool](#bool) |  |  |
+| helios_home_positions | [WorldModel.HeliosHomePositionsEntry](#protos-WorldModel-HeliosHomePositionsEntry) | repeated |  |
+| our_defense_line_x | [double](#double) |  |  |
+| their_defense_line_x | [double](#double) |  |  |
+| our_defense_player_line_x | [double](#double) |  |  |
+| their_defense_player_line_x | [double](#double) |  |  |
+| kickable_teammate_existance | [bool](#bool) |  |  |
+| kickable_opponent_existance | [bool](#bool) |  |  |
+| penalty_kick_state | [PenaltyKickState](#protos-PenaltyKickState) |  |  |
+| see_time | [int32](#int32) |  |  |
+
+
+
+
+
+
+<a name="protos-WorldModel-HeliosHomePositionsEntry"></a>
+
+### WorldModel.HeliosHomePositionsEntry
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| key | [int32](#int32) |  |  |
+| value | [RpcVector2D](#protos-RpcVector2D) |  |  |
+
+
+
+
+
+
+<a name="protos-WorldModel-OurPlayersDictEntry"></a>
+
+### WorldModel.OurPlayersDictEntry
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| key | [int32](#int32) |  |  |
+| value | [Player](#protos-Player) |  |  |
+
+
+
+
+
+
+<a name="protos-WorldModel-TheirPlayersDictEntry"></a>
+
+### WorldModel.TheirPlayersDictEntry
+
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| key | [int32](#int32) |  |  |
+| value | [Player](#protos-Player) |  |  |
+
+
+
+
+
+
+<a name="protos-bhv_doForceKick"></a>
+
+### bhv_doForceKick
+
+
+
+
+
+
+
+<a name="protos-bhv_doHeardPassRecieve"></a>
+
+### bhv_doHeardPassRecieve
+
+
+
+
+
+
+ 
+
+
+<a name="protos-AgentType"></a>
+
+### AgentType
+
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| PlayerT | 0 |  |
+| CoachT | 1 |  |
+| TrainerT | 2 |  |
+
+
+
+<a name="protos-CardType"></a>
+
+### CardType
+
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| NO_CARD | 0 |  |
+| YELLOW | 1 |  |
+| RED | 2 |  |
+
+
+
+<a name="protos-GameModeType"></a>
+
+### GameModeType
+
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| BeforeKickOff | 0 |  |
+| TimeOver | 1 |  |
+| PlayOn | 2 |  |
+| KickOff_ | 3 |  |
+| KickIn_ | 4 |  |
+| FreeKick_ | 5 |  |
+| CornerKick_ | 6 |  |
+| GoalKick_ | 7 |  |
+| AfterGoal_ | 8 |  |
+| OffSide_ | 9 |  |
+| PenaltyKick_ | 10 |  |
+| FirstHalfOver | 11 |  |
+| Pause | 12 |  |
+| Human | 13 |  |
+| FoulCharge_ | 14 |  |
+| FoulPush_ | 15 |  |
+| FoulMultipleAttacker_ | 16 |  |
+| FoulBallOut_ | 17 |  |
+| BackPass_ | 18 |  |
+| FreeKickFault_ | 19 |  |
+| CatchFault_ | 20 |  |
+| IndFreeKick_ | 21 |  |
+| PenaltySetup_ | 22 |  |
+| PenaltyReady_ | 23 |  |
+| PenaltyTaken_ | 24 |  |
+| PenaltyMiss_ | 25 |  |
+| PenaltyScore_ | 26 |  |
+| IllegalDefense_ | 27 |  |
+| PenaltyOnfield_ | 28 |  |
+| PenaltyFoul_ | 29 |  |
+| GoalieCatch_ | 30 |  |
+| ExtendHalf | 31 |  |
+| MODE_MAX | 32 |  |
+
+
+
+<a name="protos-InterceptActionType"></a>
+
+### InterceptActionType
+
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| UNKNOWN_Intercept_Action_Type | 0 |  |
+| OMNI_DASH | 1 |  |
+| TURN_FORWARD_DASH | 2 |  |
+| TURN_BACKWARD_DASH | 3 |  |
+
+
+
+<a name="protos-LoggerLevel"></a>
+
+### LoggerLevel
+
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| NoneLevel | 0 |  |
+| SYSTEM | 1 |  |
+| SENSOR | 2 |  |
+| WORLD | 4 |  |
+| ACTION | 8 |  |
+| INTERCEPT | 16 |  |
+| KICK | 32 |  |
+| HOLD | 64 |  |
+| DRIBBLE | 128 |  |
+| PASS | 256 |  |
+| CROSS | 512 |  |
+| SHOOT | 1024 |  |
+| CLEAR | 2048 |  |
+| BLOCK | 4096 |  |
+| MARK | 8192 |  |
+| POSITIONING | 16384 |  |
+| ROLE | 32768 |  |
+| TEAM | 65536 |  |
+| COMMUNICATION | 131072 |  |
+| ANALYZER | 262144 |  |
+| ACTION_CHAIN | 524288 |  |
+| PLAN | 1048576 | TRAINING = 0x80000000; LEVEL_ANY = 0xffffffff; |
+
+
+
+<a name="protos-RpcActionCategory"></a>
+
+### RpcActionCategory
+
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| AC_Hold | 0 |  |
+| AC_Dribble | 1 |  |
+| AC_Pass | 2 |  |
+| AC_Shoot | 3 |  |
+| AC_Clear | 4 |  |
+| AC_Move | 5 |  |
+| AC_NoAction | 6 |  |
+
+
+
+<a name="protos-RpcServerLanguageType"></a>
+
+### RpcServerLanguageType
+
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| UNKNOWN_LANGUAGE | 0 |  |
+| PYThON | 1 |  |
+| JAVA | 2 |  |
+| CPP | 3 |  |
+| CSHARP | 4 |  |
+| RUBY | 5 |  |
+| JAVE_SCRIPT | 6 |  |
+| GO | 7 |  |
+
+
+
+<a name="protos-Side"></a>
+
+### Side
+
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| UNKNOWN | 0 |  |
+| LEFT | 1 |  |
+| RIGHT | 2 |  |
+
+
+
+<a name="protos-ViewWidth"></a>
+
+### ViewWidth
+Enum representing the different view widths available in the soccer simulation.
+For more information, see the documentation at [link](link)
+
+| Name | Number | Description |
+| ---- | ------ | ----------- |
+| NARROW | 0 | Narrow view width (60 degrees). |
+| NORMAL | 1 | Normal view width (90 degrees). |
+| WIDE | 2 | Wide view width (180 degrees). |
+
+
+ 
+
+ 
+
+
+<a name="protos-Game"></a>
+
+### Game
+The Game service provides various RPC methods for interacting with a soccer simulation.
+
+Methods:
+- GetPlayerActions(State): Retrieves actions available to a player based on the current state.
+- GetCoachActions(State): Retrieves actions available to a coach based on the current state.
+- GetTrainerActions(State): Retrieves actions available to a trainer based on the current state.
+- SendInitMessage(InitMessage): Sends an initialization message to the server.
+- SendServerParams(ServerParam): Sends server parameters to the server.
+- SendPlayerParams(PlayerParam): Sends player parameters to the server.
+- SendPlayerType(PlayerType): Sends player type information to the server. (Note: Should be PlayerTypes)
+- Register(RegisterRequest): Registers a new entity and returns a registration response.
+- SendByeCommand(RegisterResponse): Sends a bye command to the server.
+- GetBestPlannerAction(BestPlannerActionRequest): Retrieves the best planner action based on the request.
+```mermaid
+sequenceDiagram
+participant Alice
+participant Bob
+Alice->>John: Hello John, how are you?
+loop HealthCheck
+John->>John: Fight against hypochondria
+end
+Note right of John: Rational thoughts <br/>prevail!
+John-->>Alice: Great!
+John->>Bob: How about you?
+Bob-->>John: Jolly good!
+```
+
+| Method Name | Request Type | Response Type | Description |
+| ----------- | ------------ | ------------- | ------------|
+| GetPlayerActions | [State](#protos-State) | [PlayerActions](#protos-PlayerActions) |  |
+| GetCoachActions | [State](#protos-State) | [CoachActions](#protos-CoachActions) |  |
+| GetTrainerActions | [State](#protos-State) | [TrainerActions](#protos-TrainerActions) |  |
+| SendInitMessage | [InitMessage](#protos-InitMessage) | [Empty](#protos-Empty) |  |
+| SendServerParams | [ServerParam](#protos-ServerParam) | [Empty](#protos-Empty) |  |
+| SendPlayerParams | [PlayerParam](#protos-PlayerParam) | [Empty](#protos-Empty) |  |
+| SendPlayerType | [PlayerType](#protos-PlayerType) | [Empty](#protos-Empty) |  |
+| Register | [RegisterRequest](#protos-RegisterRequest) | [RegisterResponse](#protos-RegisterResponse) |  |
+| SendByeCommand | [RegisterResponse](#protos-RegisterResponse) | [Empty](#protos-Empty) |  |
+| GetBestPlannerAction | [BestPlannerActionRequest](#protos-BestPlannerActionRequest) | [BestPlannerActionResponse](#protos-BestPlannerActionResponse) |  |
+
+ 
+
+
+
+## Scalar Value Types
+
+| .proto Type | Notes | C++ | Java | Python | Go | C# | PHP | Ruby |
+| ----------- | ----- | --- | ---- | ------ | -- | -- | --- | ---- |
+| <a name="double" /> double |  | double | double | float | float64 | double | float | Float |
+| <a name="float" /> float |  | float | float | float | float32 | float | float | Float |
+| <a name="int32" /> int32 | Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint32 instead. | int32 | int | int | int32 | int | integer | Bignum or Fixnum (as required) |
+| <a name="int64" /> int64 | Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint64 instead. | int64 | long | int/long | int64 | long | integer/string | Bignum |
+| <a name="uint32" /> uint32 | Uses variable-length encoding. | uint32 | int | int/long | uint32 | uint | integer | Bignum or Fixnum (as required) |
+| <a name="uint64" /> uint64 | Uses variable-length encoding. | uint64 | long | int/long | uint64 | ulong | integer/string | Bignum or Fixnum (as required) |
+| <a name="sint32" /> sint32 | Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int32s. | int32 | int | int | int32 | int | integer | Bignum or Fixnum (as required) |
+| <a name="sint64" /> sint64 | Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int64s. | int64 | long | int/long | int64 | long | integer/string | Bignum |
+| <a name="fixed32" /> fixed32 | Always four bytes. More efficient than uint32 if values are often greater than 2^28. | uint32 | int | int | uint32 | uint | integer | Bignum or Fixnum (as required) |
+| <a name="fixed64" /> fixed64 | Always eight bytes. More efficient than uint64 if values are often greater than 2^56. | uint64 | long | int/long | uint64 | ulong | integer/string | Bignum |
+| <a name="sfixed32" /> sfixed32 | Always four bytes. | int32 | int | int | int32 | int | integer | Bignum or Fixnum (as required) |
+| <a name="sfixed64" /> sfixed64 | Always eight bytes. | int64 | long | int/long | int64 | long | integer/string | Bignum |
+| <a name="bool" /> bool |  | bool | boolean | boolean | bool | bool | boolean | TrueClass/FalseClass |
+| <a name="string" /> string | A string must always contain UTF-8 encoded or 7-bit ASCII text. | string | String | str/unicode | string | string | string | String (UTF-8) |
+| <a name="bytes" /> bytes | May contain any arbitrary sequence of bytes. | string | ByteString | str | []byte | ByteString | string | String (ASCII-8BIT) |
+