RoboCup.dk 2026 – Webots Simulation

This repository contains a Webots simulation of the RoboCup.dk 2026 competition track.

Running the Simulation

1. Download and install Webots from https://cyberbotics.com/.
   The simulation was developed using Webots R2025a, but newer versions should also work.
2. Clone this repo with git clone https://github.com/dkjonas/2026_simulator_webots.git or download the zip from above.
3. Build WildWilly.Hal.Webots and WildWilly.Webots.Supervisor from the WildWillyCore solution. Their post-build steps copy the controller executables and dependencies to controllers/wild_willy_r5/ and controllers/wild_willy_supervisor/.
4. Open worlds/robocup.dk_2026.wbt in Webots and press Play. The controller requires the .NET 10 runtime.

Python must also be installed to run the track's obstacle controller.

The world uses the WildWillyR5 robot and its wild_willy_r5 C# controller. The PROTO's robot frame is X forward, Y left, Z up; its original Y-forward CAD and devices are rotated inside the PROTO, without modifying the DAE files. The old controllers/boebot_controller/ example remains in the repository but is not selected by the world.

The separate wild_willy_supervisor C# controller listens on loopback port 10021. WildWilly.Client uses it to read and set the robot pose; named poses are stored in the WildWillyCore repository at Configuration/Simulation/robot-poses.json so they can be tracked in Git.

Track Rules and Setup

During the competition, several obstacles on the track will be manually randomized.
These include elements such as the seesaw angle, free gates, and ball placement.

In the simulator, this randomization occurs automatically when the robot passes the start line. At the same time, the timed door, fitness obstacle, and locked door obstacle are reset.

You can also manually trigger this randomization process by pressing the R key. This allows you to reset and randomize the track without needing to drive the robot back to the start line.

The track behavior is controlled by the controllers/controlled_obstacles/controlled_obstacles.py script. You can experiment with or disable parts of this script to make it easier to test your own robot algorithms.