diff --git a/bitbots_misc/bitbots_parameter_blackboard/launch/parameter_blackboard.launch b/bitbots_misc/bitbots_parameter_blackboard/launch/parameter_blackboard.launch
index 3631f568d..763a9607b 100644
--- a/bitbots_misc/bitbots_parameter_blackboard/launch/parameter_blackboard.launch
+++ b/bitbots_misc/bitbots_parameter_blackboard/launch/parameter_blackboard.launch
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
     <arg name="sim" default="false"/>
-    <arg unless="$(var sim)" name="fieldname" default="german_open_2024" description="Loads field settings (labor, webots, gazebo, bangkok, spl, german_open_2024)." />
+    <arg unless="$(var sim)" name="fieldname" default="labor" description="Loads field settings (labor, webots, gazebo, bangkok, spl, german_open_2024)." />
     <arg if="$(var sim)" name="fieldname" default="webots" description="Loads field settings (labor, webots, gazebo, bangkok, german_open_2024)." />
 
     <!-- print bit-bot -->
diff --git a/bitbots_motion/bitbots_dynup/config/dynup_config.yaml b/bitbots_motion/bitbots_dynup/config/dynup_config.yaml
index bff4d114f..aeef4f8a2 100644
--- a/bitbots_motion/bitbots_dynup/config/dynup_config.yaml
+++ b/bitbots_motion/bitbots_dynup/config/dynup_config.yaml
@@ -239,7 +239,7 @@ bitbots_dynup:
       descend_time:
         type: double
         description: "Time to descend in seconds"
-        default_value: 0.25
+        default_value: 1.5
         validation:
           bounds<>: [0.0, 5.0]
 
diff --git a/bitbots_robot/wolfgang_animations/animations/throw_in/grab_ball.json b/bitbots_robot/wolfgang_animations/animations/throw_in/grab_ball.json
index 40333ad7b..af1a995d2 100644
--- a/bitbots_robot/wolfgang_animations/animations/throw_in/grab_ball.json
+++ b/bitbots_robot/wolfgang_animations/animations/throw_in/grab_ball.json
@@ -64,7 +64,7 @@
                 "LHipRoll": 14.250000000000002,
                 "LHipYaw": -3.08,
                 "LKnee": 160.21,
-                "LShoulderPitch": -58.89,
+                "LShoulderPitch": -64.89,
                 "LShoulderRoll": 19.35,
                 "RAnklePitch": 57.48,
                 "RAnkleRoll": -11.96,
@@ -73,7 +73,7 @@
                 "RHipRoll": -14.250000000000002,
                 "RHipYaw": 3.08,
                 "RKnee": -160.21,
-                "RShoulderPitch": 58.89,
+                "RShoulderPitch": 64.89,
                 "RShoulderRoll": -19.35
             },
             "name": "scoop",
@@ -81,7 +81,7 @@
             "torque": {}
         },
         {
-            "duration": 1.2,
+            "duration": 1.8,
             "goals": {
                 "LAnklePitch": -62.4,
                 "LAnkleRoll": 10.11,
diff --git a/bitbots_robot/wolfgang_animations/animations/throw_in/throw.json b/bitbots_robot/wolfgang_animations/animations/throw_in/throw.json
index 5d43445ab..c471e24e4 100644
--- a/bitbots_robot/wolfgang_animations/animations/throw_in/throw.json
+++ b/bitbots_robot/wolfgang_animations/animations/throw_in/throw.json
@@ -70,4 +70,4 @@
     "last_edited": "2024-12-18 16:10:48.875357",
     "name": "throw",
     "version": ""
-}
\ No newline at end of file
+}
diff --git a/bitbots_robot/wolfgang_description/urdf/robot.urdf b/bitbots_robot/wolfgang_description/urdf/robot.urdf
index 93eece425..b964ae9a6 100644
--- a/bitbots_robot/wolfgang_description/urdf/robot.urdf
+++ b/bitbots_robot/wolfgang_description/urdf/robot.urdf
@@ -732,7 +732,7 @@
     <axis xyz="-0.0 -0.0 -1.0"/>
     <parent link="r_shoulder"/>
     <child link="r_upper_arm"/>
-    <limit effort="7.3" lower="-0.12" upper="3.1416" velocity="8.17"/>
+    <limit effort="7.3" lower="-0.33" upper="3.1416" velocity="8.17"/>
     <dynamics damping="0.65" friction="1.73"/>
   </joint>
   <joint name="RShoulderPitch" type="revolute">
@@ -1087,7 +1087,7 @@
     <axis xyz="-0.0 -0.0 -1.0"/>
     <parent link="l_shoulder"/>
     <child link="l_upper_arm"/>
-    <limit effort="7.3" lower="-3.1416" upper="0.12" velocity="8.17"/>
+    <limit effort="7.3" lower="-3.1416" upper="0.33" velocity="8.17"/>
     <dynamics damping="0.65" friction="1.73"/>
   </joint>
   <joint name="LShoulderPitch" type="revolute">
diff --git a/bitbots_team_communication/bitbots_team_communication/RobocupProtocol b/bitbots_team_communication/bitbots_team_communication/RobocupProtocol
new file mode 160000
index 000000000..56b5f5e55
--- /dev/null
+++ b/bitbots_team_communication/bitbots_team_communication/RobocupProtocol
@@ -0,0 +1 @@
+Subproject commit 56b5f5e55ae1885e20d03ad36e37c35f2dfcce98