Feature updates for CER2026

.github/workflows/check.yml

@@ -4,29 +4,32 @@ on:
   push:
   workflow_dispatch:
 
+env:
+  WEBOTS_VER: "2025a"
+
 jobs:
   test:
     strategy:
       fail-fast: false
       matrix:
         os: [ubuntu-latest]
-        py_version: ["3.8", "3.9", "3.10", "3.11"]
+        py_version: ["3.9", "3.10", "3.11", "3.12", "3.13", "3.14"]
         include:
           - os: windows-latest
-            py_version: "3.8"
+            py_version: "3.10"
           - os: windows-latest
-            py_version: "3.11"
+            py_version: "3.13"
           - os: macos-latest
-            py_version: "3.8"
+            py_version: "3.10"
           - os: macos-latest
-            py_version: "3.11"
+            py_version: "3.13"
     runs-on: ${{ matrix.os }}
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         fetch-depth: 0
     - name: Set up Python
-      uses: actions/setup-python@v5
+      uses: actions/setup-python@v6
       with:
         python-version: ${{ matrix.py_version }}
     - name: Install dependencies
@@ -36,8 +39,9 @@ jobs:
     - name: Download & install Webots (Linux)
       if: runner.os == 'Linux'
       run: |
+        sudo apt-get update
         wget -O ./webots.deb \
-        https://github.com/cyberbotics/webots/releases/download/R2023b/webots_2023b_amd64.deb
+          https://github.com/cyberbotics/webots/releases/download/R$WEBOTS_VER/webots_${WEBOTS_VER}_amd64.deb
         sudo apt-get install --yes ./webots.deb
     - name: Download & extract Webots (Windows)
       # Windows install was problematic so we just extract the python library for typehints
@@ -46,14 +50,14 @@ jobs:
       run: |
         mkdir stubs
         C:\\msys64\\usr\\bin\\wget.exe -O ./webots.tar.bz2 \
-          https://github.com/cyberbotics/webots/releases/download/R2023b/webots-R2023b-x86-64.tar.bz2
+          https://github.com/cyberbotics/webots/releases/download/R$WEBOTS_VER/webots-R$WEBOTS_VER-x86-64.tar.bz2
         C:\\msys64\\usr\\bin\\tar.exe xvf webots.tar.bz2 --strip-components=4 \
           --directory=stubs webots/lib/controller/python/controller
     - name: Download & install Webots (macOS)
       if: runner.os == 'macOS'
       run: |
         wget -O ./webots.dmg \
-        https://github.com/cyberbotics/webots/releases/download/R2023b/webots-R2023b.dmg
+          https://github.com/cyberbotics/webots/releases/download/R$WEBOTS_VER/webots-R$WEBOTS_VER.dmg
         hdiutil mount ./webots.dmg
         sudo cp -R /Volumes/Webots/Webots.app /Applications
         hdiutil unmount /Volumes/Webots
@@ -74,11 +78,11 @@ jobs:
   release:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
       with:
         fetch-depth: 0
     - name: Set up Python 3.10
-      uses: actions/setup-python@v5
+      uses: actions/setup-python@v6
       with:
         python-version: "3.10"
     - name: Install release dependencies
@@ -99,7 +103,7 @@ jobs:
         unzip dist/*.zip -d dist/
         rm dist/sbot-simulator*.zip
     - name: Save built release
-      uses: actions/upload-artifact@v4
+      uses: actions/upload-artifact@v6
       with:
         name: ${{ steps.release.outputs.RELEASE_NAME }}
         path: |

.gitignore

@@ -167,3 +167,4 @@ cython_debug/
 /simulator/controllers/competition_supervisor/runtime.ini
 /zone_*
 /dist
+/uv.lock

example_robots/basic_robot.py

@@ -1,7 +1,5 @@
 from sbot import arduino, motors, utils
 
-# robot = Robot()
-
 motors.set_power(0, 1)
 motors.set_power(1, 1)
 

requirements.txt

@@ -1,3 +1,3 @@
-sbot==2025.1.1
-april_vision==3.0.0
+sbot==2026.1.0
+april_vision==3.1.0
 opencv-python-headless >=4.10,<5

scripts/generate_release.py

@@ -84,6 +84,7 @@
 
     script_dir = temp_dir / "scripts"
     script_dir.mkdir()
+    shutil.copy(project_root / "scripts/setup_python_fix.py", script_dir)
     logger.info("Copying example code to temp directory")
     shutil.copytree(project_root / "example_robots", temp_dir / "example_robots")
 

scripts/run_simulator.py

@@ -14,6 +14,10 @@
 from shutil import which
 from subprocess import Popen
 
+BOLD_RED = '\x1b[31;1m'
+RESET_COLOUR = '\x1b[0m'
+
+
 if sys.platform == "win32":
     from subprocess import CREATE_NEW_PROCESS_GROUP, DETACHED_PROCESS
 
@@ -51,6 +55,10 @@ def get_webots_parameters() -> tuple[Path, Path]:
     if not (SIM_BASE / "venv").exists():
         raise RuntimeError("Please run the setup.py script before running the simulator.")
 
+    # Check setup finish successfully
+    if not (SIM_BASE / "venv/setup_success").exists():
+        raise RuntimeError("Setup has not completed successfully. Please re-run the setup.py script.")
+
     # Check if Webots is in the PATH
     webots = which("webots")
 
@@ -86,13 +94,15 @@ def main() -> None:
         else:
             Popen([str(webots), str(world_file)], start_new_session=True)
     except RuntimeError as e:
-        print(f"An error occurred: {e}")
-        input("Press enter to continue...")
+        print(BOLD_RED)
+        print(f"An error occurred: \n{e}")
+        input(f"Press enter to continue...{RESET_COLOUR}")
         exit(1)
     except Exception as e:
+        print(BOLD_RED)
         print(f"An error occurred: {e}")
         print(traceback.format_exc())
-        input("Press enter to continue...")
+        input(f"Press enter to continue...{RESET_COLOUR}")
         exit(1)
 
 

scripts/setup.py

@@ -8,6 +8,7 @@
 3. Set the python path in runtime.ini to the virtual environment python
 4. Repopulate the zone 0 folder with basic_robot.py if robot.py is missing
 """
+
 from __future__ import annotations
 
 import logging
@@ -16,11 +17,14 @@
 import sys
 from pathlib import Path
 from subprocess import SubprocessError, check_call
-from venv import create
 
 logging.basicConfig(level=logging.INFO, format="[%(asctime)s] %(levelname)s: %(message)s")
 logger = logging.getLogger(__name__)
 
+BOLD_RED = "\x1b[31;1m"
+GREEN = "\x1b[32;20m"
+RESET_COLOUR = "\x1b[0m"
+
 
 def populate_python_config(runtime_ini: Path, venv_python: Path) -> None:
     """
@@ -50,18 +54,20 @@ def populate_python_config(runtime_ini: Path, venv_python: Path) -> None:
         elif not in_python_section:
             runtime_content.append(line)
 
-    runtime_content.extend([
-        "",
-        "[python]",
-        f"COMMAND = {venv_python.absolute()}",
-        "",
-    ])
+    runtime_content.extend(
+        [
+            "",
+            "[python]",
+            f"COMMAND = {venv_python.absolute()}",
+            "",
+        ]
+    )
 
-    runtime_ini.write_text('\n'.join(runtime_content))
+    runtime_ini.write_text("\n".join(runtime_content))
 
 
 try:
-    if (Path(__file__).parent / 'simulator/VERSION').exists():
+    if (Path(__file__).parent / "simulator/VERSION").exists():
         # This is running from a release
         print("Running in release mode")
         project_root = Path(__file__).parent
@@ -76,8 +82,11 @@ def populate_python_config(runtime_ini: Path, venv_python: Path) -> None:
 
     venv_dir = project_root / "venv"
 
+    # Reset success flag
+    (venv_dir / "setup_success").unlink(missing_ok=True)
+
     logger.info(f"Creating virtual environment in {venv_dir.absolute()}")
-    create(venv_dir, with_pip=True)
+    check_call([sys.executable, "-m", "venv", venv_dir])
 
     logger.info(f"Installing dependencies from {requirements.absolute()}")
     if platform.system() == "Windows":
@@ -90,7 +99,13 @@ def populate_python_config(runtime_ini: Path, venv_python: Path) -> None:
         [str(venv_python), "-m", "pip", "install", "--upgrade", "pip", "setuptools", "wheel"],
         cwd=venv_dir,
     )
-    check_call([str(pip), "install", "-r", str(requirements)], cwd=venv_dir)
+    check_call(
+        [str(pip), "install", "--only-binary=:all:", "-r", str(requirements)],
+        cwd=venv_dir
+    )
+
+    logger.info("Preloading OpenCV")
+    check_call([str(venv_python), "-c", "import cv2"], cwd=venv_dir)
 
     logger.info("Setting up Webots Python location")
 
@@ -100,17 +115,22 @@ def populate_python_config(runtime_ini: Path, venv_python: Path) -> None:
     populate_python_config(usercode_ini, venv_python)
     populate_python_config(supervisor_ini, venv_python)
 
+    # Mark that we succeeded
+    (venv_dir / "setup_success").touch()
+
     # repopulate zone 0 with example code if robot.py is missing
     zone_0 = project_root / "zone_0"
     if not (zone_0 / "robot.py").exists():
         logger.info("Repopulating zone 0 with example code")
         zone_0.mkdir(exist_ok=True)
         shutil.copy(project_root / "example_robots/basic_robot.py", zone_0 / "robot.py")
 except SubprocessError:
+    print(BOLD_RED)
     logger.error("Setup failed due to an error.")
-    input("An error occurred, press enter to close.")
+    input(f"An error occurred, press enter to close.{RESET_COLOUR}")
 except Exception:
+    print(BOLD_RED)
     logger.exception("Setup failed due to an error.")
-    input("An error occurred, press enter to close.")
+    input(f"An error occurred, press enter to close.{RESET_COLOUR}")
 else:
-    input("Setup complete, press enter to close.")
+    input(f"{GREEN}Setup complete, press enter to close.{RESET_COLOUR}")

scripts/setup_python_fix.py

@@ -0,0 +1,66 @@
+#!/usr/bin/env python3
+"""
+A script to setup the environment for running the project in Webots.
+
+It will:
+1. Create a setup virtual environment and install uv into it
+2. Use uv to run the standard setup using the desired Python version
+"""
+import logging
+import platform
+import sys
+from pathlib import Path
+from subprocess import SubprocessError, check_call
+
+logging.basicConfig(level=logging.INFO, format="[%(asctime)s] %(levelname)s: %(message)s")
+logger = logging.getLogger(__name__)
+
+BOLD_RED = '\x1b[31;1m'
+GREEN = '\x1b[32;20m'
+RESET_COLOUR = '\x1b[0m'
+
+PYTHON_VERSION = "3.13"
+
+try:
+    if (Path(__file__).parent / 'simulator/VERSION').exists():
+        # This is running from a release
+        print("Running in release mode")
+        project_root = Path(__file__).parent
+    else:
+        # This is running from the repository
+        print("Running in development mode")
+        project_root = Path(__file__).parents[1]
+
+    print(f"Starting with python version: {sys.version} on {platform.platform()}")
+
+    venv_dir = project_root / "simulator/setup_venv"
+    script_dir = Path(__file__).parent
+
+    check_call([sys.executable, "-m", "venv", venv_dir])
+
+    logger.info("Installing uv")
+    if platform.system() == "Windows":
+        venv_bin_dir = venv_dir / "Scripts"
+        pip = venv_bin_dir / "pip.exe"
+        uv_bin = venv_bin_dir / "uv.exe"
+    else:
+        venv_bin_dir = venv_dir / "bin"
+        pip = venv_bin_dir / "pip"
+        uv_bin = venv_bin_dir / "uv"
+
+    check_call(
+        [pip, "install", "--only-binary=:all:", "--upgrade", "wheel", "uv"],
+        cwd=venv_dir,
+    )
+
+    logger.info(f"Running setup using Python {PYTHON_VERSION}")
+    setup_script = script_dir.relative_to(project_root) / "setup.py"
+    check_call([uv_bin, "run", "--python", PYTHON_VERSION, setup_script], cwd=project_root)
+except SubprocessError:
+    print(BOLD_RED)
+    logger.error("Setup failed due to an error.")
+    input(f"An error occurred, press enter to close.{RESET_COLOUR}")
+except Exception:
+    print(BOLD_RED)
+    logger.exception("Setup failed due to an error.")
+    input(f"An error occurred, press enter to close.{RESET_COLOUR}")