diff --git a/.gitignore b/.gitignore
index 292ef1f..7954551 100644
--- a/.gitignore
+++ b/.gitignore
@@ -160,9 +160,10 @@ cython_debug/
 #.idea/
 
 # Webots
-.arena.wbproj
+.*.wbproj
 .arena.jpg
 
 /simulator/controllers/usercode_runner/runtime.ini
+/simulator/controllers/competition_supervisor/runtime.ini
 /zone_*
 /dist
diff --git a/README.md b/README.md
index 995ab16..eb73a6e 100644
--- a/README.md
+++ b/README.md
@@ -1,9 +1,7 @@
 # sbot_simulator
 A simulator built around Webots to use the sbot library virtually.
 
-![sbot_simulator](assets/arena_overview.jpg)
-
-### This is a work in progress
+![sbot_simulator](assets/arena_overview.png)
 
 ## Installation
 
@@ -101,54 +99,3 @@ In order to keep the released simulator tidy and easy to use, the project is spl
 Alongside these folders that are placed in the releases, the `assets` folder contains images and other resources that are used in the documentation. These are used to render an HTML page user facing readme that is included in the release archive.
 
 Of the the folders that are not included in the release, the `tests` folder contains the unit and integration tests for the simulator that don't require running webots and the `test_simulator` folder contains a separate webots world that is used to test the simulator.
-
-## Project Status
-
-1. ~~device spinup~~
-2. ~~debug logs~~
-3. ~~test devices~~
-4. ~~webots devices~~
-5. ~~usercode runner~~
-6. ~~vision~~
-7. ~~arena~~
-    - ~~box~~
-    - ~~deck~~
-    - ~~triangle deck~~
-    - ~~floor texture~~
-        - ~~line~~
-        - ~~scoring lines~~
-        - ~~starting zones~~
-8. ~~robot~~
-9. ~~device jitter~~
-    - ~~in Webots~~
-        - ~~Ultrasound noise~~
-        - ~~Reflectance sensor noise~~
-    - ~~in python~~
-        - ~~motor noise~~
-        - ~~servo noise~~
-10. sbot updates
-    1. ~~simulator discovery~~
-    2. ~~vision~~
-    3. ~~leds~~
-    4. ~~sleep & time~~
-    5. Windows startup performance
-11. ~~keyboard robot~~
-12. ~~setup script~~
-13. ~~releases~~
-14. documentation
-    1. ~~dev setup~~
-    2. user usage
-    3. ~~how it works~~
-15. simulator tests
-    - vision position
-    - vision orientation
-    - distance sensor
-    - reflectance sensor
-    - bump sensor
-    - motor
-    - servo
-16. ~~linting~~
-17. ~~CI~~
-18. report currents
-19. supervisor
-20. comp match running
diff --git a/assets/arena_overview.jpg b/assets/arena_overview.jpg
deleted file mode 100755
index 784c6e6..0000000
Binary files a/assets/arena_overview.jpg and /dev/null differ
diff --git a/assets/arena_overview.png b/assets/arena_overview.png
new file mode 100644
index 0000000..5a2e2fe
Binary files /dev/null and b/assets/arena_overview.png differ
diff --git a/assets/user_readme.md b/assets/user_readme.md
index 25c9153..0ee692b 100644
--- a/assets/user_readme.md
+++ b/assets/user_readme.md
@@ -139,7 +139,7 @@ The API for the simulator is the same as the API for the physical robot, so you
 
 
 As well as the logs being displayed in the console, they are also saved to a file.
-This file is saved in the `zone_0` folder and has a name in the format `log-<date>.log`.
+This file is saved in the `zone_0` folder and has a name in the format `log-zone-<zone>-<date>.log`.
 The date is when that simulation was run.
 
 ### Simulation of Time
@@ -252,6 +252,15 @@ If you see a message saying that Python cannot be found that looks similar to th
 As well as the guidance above, there are a few other points to note when using the simulator.
 These can help you to understand what is happening and how to get the most out of the simulator.
 
+### Using Other Zones
+
+If the arena has multiple starting zones, you can run multiple robots in the simulator.
+To test how your robot behaves in each starting zone of the arena, you can copy your robot's code to run in each corner.
+
+In the folder where you extracted the simulator, alongside the `zone_0` folder, you may have other `zone_<number>` folders.
+Such as `zone_1`, `zone_2`, etc.
+Each of these folders can contain a `robot.py` file that will be run in the corresponding starting zone of the arena.
+
 ### Performance Optimisations
 
 The default settings work for most users however if you are using a less powerful computer or one without a dedicated graphics card (as is the case on many laptops), you may wish to adjust the graphics settings to enable the simulation to run faster.
diff --git a/example_robots/basic_robot.py b/example_robots/basic_robot.py
index 25a16f5..c87070c 100644
--- a/example_robots/basic_robot.py
+++ b/example_robots/basic_robot.py
@@ -1,26 +1,26 @@
-from sbot import Robot
+from sbot import arduino, motors, utils
 
-robot = Robot()
+# robot = Robot()
 
-robot.motor_board.motors[0].power = 1
-robot.motor_board.motors[1].power = 1
+motors.set_power(0, 1)
+motors.set_power(1, 1)
 
 # measure the distance of the right ultrasound sensor
 # pin 6 is the trigger pin, pin 7 is the echo pin
-distance = robot.arduino.ultrasound_measure(6, 7)
+distance = arduino.measure_ultrasound_distance(6, 7)
 print(f"Right ultrasound distance: {distance / 1000} meters")
 
 # motor board, channel 0 to half power forward
-robot.motor_board.motors[0].power = 0.5
+motors.set_power(0, 0.5)
 
 # motor board, channel 1 to half power forward,
-robot.motor_board.motors[1].power = 0.5
+motors.set_power(1, 0.5)
 # minimal time has passed at this point,
 # so the robot will appear to move forward instead of turning
 
 # sleep for 2 second
-robot.sleep(2)
+utils.sleep(2)
 
 # stop both motors
-robot.motor_board.motors[0].power = 0
-robot.motor_board.motors[1].power = 0
+motors.set_power(0, 0)
+motors.set_power(1, 0)
diff --git a/example_robots/keyboard_robot.py b/example_robots/keyboard_robot.py
index a717140..df21df1 100644
--- a/example_robots/keyboard_robot.py
+++ b/example_robots/keyboard_robot.py
@@ -1,7 +1,8 @@
+# mypy: ignore-errors
 import math
 
 from controller import Keyboard
-from sbot import AnalogPins, Robot
+from sbot import AnalogPin, Colour, arduino, comp, leds, motors, utils, vision
 
 # Any keys still pressed in the following period will be handled again
 # leading to rprinting sensors multiple times
@@ -62,7 +63,7 @@ def angle_str(angle: float) -> str:
         return f"{angle:.4f} rad"
 
 
-def print_sensors(robot: Robot) -> None:
+def print_sensors() -> None:
     ultrasonic_sensor_names = {
         (2, 3): "Front",
         (4, 5): "Left",
@@ -70,9 +71,9 @@ def print_sensors(robot: Robot) -> None:
         (8, 9): "Back",
     }
     reflectance_sensor_names = {
-        AnalogPins.A0: "Left",
-        AnalogPins.A1: "Center",
-        AnalogPins.A2: "Right",
+        AnalogPin.A0: "Left",
+        AnalogPin.A1: "Center",
+        AnalogPin.A2: "Right",
     }
     touch_sensor_names = {
         10: "Front Left",
@@ -83,29 +84,30 @@ def print_sensors(robot: Robot) -> None:
 
     print("Distance sensor readings:")
     for (trigger_pin, echo_pin), name in ultrasonic_sensor_names.items():
-        dist = robot.arduino.ultrasound_measure(trigger_pin, echo_pin)
+        dist = arduino.measure_ultrasound_distance(trigger_pin, echo_pin)
         print(f"({trigger_pin}, {echo_pin}) {name: <12}: {dist:.0f} mm")
 
     print("Touch sensor readings:")
     for pin, name in touch_sensor_names.items():
-        touching = robot.arduino.pins[pin].digital_value
+        touching = arduino.digital_read(pin)
         print(f"{pin} {name: <6}: {touching}")
 
     print("Reflectance sensor readings:")
     for Apin, name in reflectance_sensor_names.items():
-        reflectance = robot.arduino.pins[Apin].analog_value
+        reflectance = arduino.analog_read(Apin)
         print(f"{Apin} {name: <12}: {reflectance:.2f} V")
 
 
-def print_camera_detection(robot: Robot) -> None:
-    markers = robot.camera.see()
+def print_camera_detection() -> None:
+    markers = vision.detect_markers()
     if markers:
         print(f"Found {len(markers)} makers:")
         for marker in markers:
             print(f" #{marker.id}")
             print(
-                f" Position: {marker.distance:.0f} mm, azi: {angle_str(marker.azimuth)}, "
-                f"elev: {angle_str(marker.elevation)}",
+                f" Position: {marker.position.distance:.0f} mm, "
+                f"{angle_str(marker.position.horizontal_angle)} right, "
+                f"{angle_str(marker.position.vertical_angle)} up",
             )
             yaw, pitch, roll = marker.orientation
             print(
@@ -119,11 +121,15 @@ def print_camera_detection(robot: Robot) -> None:
     print()
 
 
-robot = Robot()
-
 keyboard = KeyboardInterface()
 
-key_sense = CONTROLS["sense"][robot.zone]
+# Automatically set the zone controls based on the robot's zone
+# Alternatively, you can set this manually
+# ZONE_CONTROLS = 0
+ZONE_CONTROLS = comp.zone
+
+assert ZONE_CONTROLS < len(CONTROLS["forward"]), \
+    "No controls defined for this zone, alter the ZONE_CONTROLS variable to use in this zone."
 
 print(
     "Note: you need to click on 3D viewport for keyboard events to be picked "
@@ -138,36 +144,42 @@ def print_camera_detection(robot: Robot) -> None:
     keys = keyboard.process_keys()
 
     # Actions that are run continuously while the key is held
-    if CONTROLS["forward"][robot.zone] in keys["held"]:
+    if CONTROLS["forward"][ZONE_CONTROLS] in keys["held"]:
         left_power += 0.5
         right_power += 0.5
 
-    if CONTROLS["reverse"][robot.zone] in keys["held"]:
+    if CONTROLS["reverse"][ZONE_CONTROLS] in keys["held"]:
         left_power += -0.5
         right_power += -0.5
 
-    if CONTROLS["left"][robot.zone] in keys["held"]:
+    if CONTROLS["left"][ZONE_CONTROLS] in keys["held"]:
         left_power -= 0.25
         right_power += 0.25
 
-    if CONTROLS["right"][robot.zone] in keys["held"]:
+    if CONTROLS["right"][ZONE_CONTROLS] in keys["held"]:
         left_power += 0.25
         right_power -= 0.25
 
-    if CONTROLS["boost"][robot.zone] in keys["held"]:
+    if CONTROLS["boost"][ZONE_CONTROLS] in keys["held"]:
         boost = True
 
     # Actions that are run once when the key is pressed
-    if CONTROLS["sense"][robot.zone] in keys["pressed"]:
-        print_sensors(robot)
-
-    if CONTROLS["see"][robot.zone] in keys["pressed"]:
-        print_camera_detection(robot)
-
-    if CONTROLS["led"][robot.zone] in keys["pressed"]:
-        pass
-
-    if CONTROLS["angle_unit"][robot.zone] in keys["pressed"]:
+    if CONTROLS["sense"][ZONE_CONTROLS] in keys["pressed"]:
+        print_sensors()
+
+    if CONTROLS["see"][ZONE_CONTROLS] in keys["pressed"]:
+        print_camera_detection()
+
+    if CONTROLS["led"][ZONE_CONTROLS] in keys["pressed"]:
+        leds.set_colour(0, Colour.MAGENTA)
+        leds.set_colour(1, Colour.MAGENTA)
+        leds.set_colour(2, Colour.MAGENTA)
+    elif CONTROLS["led"][ZONE_CONTROLS] in keys["released"]:
+        leds.set_colour(0, Colour.OFF)
+        leds.set_colour(1, Colour.OFF)
+        leds.set_colour(2, Colour.OFF)
+
+    if CONTROLS["angle_unit"][ZONE_CONTROLS] in keys["pressed"]:
         USE_DEGREES = not USE_DEGREES
         print(f"Angle unit set to {'degrees' if USE_DEGREES else 'radians'}")
 
@@ -176,7 +188,7 @@ def print_camera_detection(robot: Robot) -> None:
         left_power = max(min(left_power * 2, 1), -1)
         right_power = max(min(right_power * 2, 1), -1)
 
-    robot.motor_board.motors[0].power = left_power
-    robot.motor_board.motors[1].power = right_power
+    motors.set_power(0, left_power)
+    motors.set_power(1, right_power)
 
-    robot.sleep(KEYBOARD_SAMPLING_PERIOD / 1000)
+    utils.sleep(KEYBOARD_SAMPLING_PERIOD / 1000)
diff --git a/requirements.txt b/requirements.txt
index 12a4d12..4f9103a 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,3 +1,3 @@
-sbot==2024.0.1
+sbot==2025.1.0
 april_vision==2.2.0
-opencv-python-headless >=4,<5
+opencv-python-headless >=4.8.0.76,<5
diff --git a/scripts/generate_release.py b/scripts/generate_release.py
index 2abe1ca..a0ee683 100755
--- a/scripts/generate_release.py
+++ b/scripts/generate_release.py
@@ -78,8 +78,12 @@
     logger.info("Copying helper scripts to temp directory")
     shutil.copy(project_root / "scripts/setup.py", temp_dir / "setup.py")
     for script in project_root.glob("scripts/run_*.py"):
+        if "run_comp_" in str(script):
+            continue
         shutil.copy(script, temp_dir)
 
+    script_dir = temp_dir / "scripts"
+    script_dir.mkdir()
     logger.info("Copying example code to temp directory")
     shutil.copytree(project_root / "example_robots", temp_dir / "example_robots")
 
diff --git a/scripts/run_simulator.py b/scripts/run_simulator.py
index 6a76e3e..e4a6a7d 100755
--- a/scripts/run_simulator.py
+++ b/scripts/run_simulator.py
@@ -3,10 +3,13 @@
 A script to run the project in Webots.
 
 Largely just a shortcut to running the arena world in Webots.
-Only functional in releases.
 """
+# ruff: noqa: E501
+from __future__ import annotations
+
 import sys
 import traceback
+from os.path import expandvars
 from pathlib import Path
 from shutil import which
 from subprocess import Popen
@@ -14,53 +17,84 @@
 if sys.platform == "win32":
     from subprocess import CREATE_NEW_PROCESS_GROUP, DETACHED_PROCESS
 
-try:
-    if not (Path(__file__).parent / 'simulator/VERSION').exists():
-        print("This script is only functional in releases.")
-        raise RuntimeError
+if (Path(__file__).parent / 'simulator/VERSION').exists():
+    print("Running in release mode")
+    SIM_BASE = Path(__file__).parent.resolve()
+else:
+    print("Running in development mode")
+    # Assume the script is in the scripts directory
+    SIM_BASE = Path(__file__).parents[1].resolve()
+
+POSSIBLE_WEBOTS_PATHS = [
+    ("darwin", "/Applications/Webots.app/Contents/MacOS/webots"),
+    ("win32", "C:\\Program Files\\Webots\\msys64\\mingw64\\bin\\webotsw.exe"),
+    ("win32", expandvars("%LOCALAPPDATA%\\Programs\\Webots\\msys64\\mingw64\\bin\\webotsw.exe")),
+    # Attempt to use the start menu shortcut
+    ("win32", expandvars("%ProgramData%\\Microsoft\\Windows\\Start Menu\\Programs\\Cyberbotics\\Webots.lnk")),
+    ("win32", expandvars("%APPDATA%\\Microsoft\\Windows\\Start Menu\\Programs\\Cyberbotics\\Webots.lnk")),
+    ("linux", "/usr/local/bin/webots"),
+    ("linux", "/usr/bin/webots"),
+]
+
+
+def get_webots_parameters() -> tuple[Path, Path]:
+    """
+    Get the paths to the Webots executable and the arena world file.
 
-    world_file = Path(__file__).parent / "simulator/worlds/arena.wbt"
+    :return: The paths to the Webots executable and the arena world file
+    """
+    world_file = SIM_BASE / "simulator/worlds/arena.wbt"
 
+    if not world_file.exists():
+        raise RuntimeError("World file not found.")
+
+    if not (SIM_BASE / "venv").exists():
+        raise RuntimeError("Please run the setup.py script before running the simulator.")
+
+    # Check if Webots is in the PATH
     webots = which("webots")
 
     # Find the webots executable, if it is not in the PATH
     if webots is None:
-        if sys.platform == "darwin":
-            webots = "/Applications/Webots.app/Contents/MacOS/webots"
-        elif sys.platform == "win32":
-            webots = "C:\\Program Files\\Webots\\msys64\\mingw64\\bin\\webotsw.exe"
-        elif sys.platform.startswith("linux"):
-            possible_paths = ["/usr/local/bin/webots", "/usr/bin/webots"]
-            for path in possible_paths:
+        for system_filter, path in POSSIBLE_WEBOTS_PATHS:
+            if sys.platform.startswith(system_filter):
+                print(f"Checking {path}")
                 if Path(path).exists():
                     webots = path
                     break
-            else:
-                print("Webots executable not found.")
-                raise RuntimeError
+
+    if webots is None or not Path(webots).exists():
+        raise RuntimeError("Webots executable not found.")
+
+    return Path(webots), world_file
+
+
+def main() -> None:
+    """Run the project in Webots."""
+    try:
+        webots, world_file = get_webots_parameters()
+
+        # Run the world file in Webots,
+        # detaching the process so it does not close when this script does
+        if sys.platform == "win32":
+            Popen(
+                [str(webots), str(world_file)],
+                creationflags=DETACHED_PROCESS | CREATE_NEW_PROCESS_GROUP,
+                # shell=True is needed to run from shortcuts
+                shell=(webots.suffix == ".lnk"),
+            )
         else:
-            print("Unsupported platform.")
-            raise RuntimeError
-
-    if not Path(webots).exists():
-        print("Webots executable not found.")
-        raise RuntimeError
-
-    if not (Path(__file__).parent / "venv").exists():
-        print("Please run the setup.py script before running the simulator.")
-        raise RuntimeError
-
-    # Run the world file in Webots,
-    # detaching the process so it does not close when this script does
-    if sys.platform == "win32":
-        Popen([webots, world_file], creationflags=DETACHED_PROCESS | CREATE_NEW_PROCESS_GROUP)
-    else:
-        Popen([webots, world_file], start_new_session=True)
-except RuntimeError:
-    input("Press enter to continue...")
-    exit(1)
-except Exception as e:
-    print(f"An error occurred: {e}")
-    print(traceback.format_exc())
-    input("Press enter to continue...")
-    exit(1)
+            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...")
+        exit(1)
+    except Exception as e:
+        print(f"An error occurred: {e}")
+        print(traceback.format_exc())
+        input("Press enter to continue...")
+        exit(1)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/scripts/setup.py b/scripts/setup.py
index 928d9b7..b5776a0 100755
--- a/scripts/setup.py
+++ b/scripts/setup.py
@@ -13,44 +13,24 @@
 import logging
 import platform
 import shutil
+import sys
 from pathlib import Path
-from subprocess import run
+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__)
 
-try:
-    if (Path(__file__).parent / 'simulator/VERSION').exists():
-        # This is running from a release
-        project_root = Path(__file__).parent
-        requirements = project_root / "simulator/requirements.txt"
-    else:
-        # This is running from the repository
-        project_root = Path(__file__).parents[1]
-        requirements = project_root / "requirements.txt"
 
-    venv_dir = project_root / "venv"
+def populate_python_config(runtime_ini: Path, venv_python: Path) -> None:
+    """
+    Populate the python configuration in the runtime.ini file.
 
-    logger.info(f"Creating virtual environment in {venv_dir.absolute()}")
-    create(venv_dir, with_pip=True)
+    This will set the python command to the virtual environment python.
 
-    logger.info(f"Installing dependencies from {requirements.absolute()}")
-    if platform.system() == "Windows":
-        pip = venv_dir / "Scripts/pip.exe"
-        venv_python = venv_dir / "Scripts/python"
-    else:
-        pip = venv_dir / "bin/pip"
-        venv_python = venv_dir / "bin/python"
-    run(
-        [str(venv_python), "-m", "pip", "install", "--upgrade", "pip", "setuptools", "wheel"],
-        cwd=venv_dir,
-    )
-    run([str(pip), "install", "-r", str(requirements)], cwd=venv_dir)
-
-    logger.info("Setting up Webots Python location")
-
-    runtime_ini = project_root / "simulator/controllers/usercode_runner/runtime.ini"
+    :param runtime_ini: The path to the runtime.ini file
+    :param venv_python: The path to the virtual environment python executable
+    """
     runtime_content: list[str] = []
     if runtime_ini.exists():
         prev_runtime_content = runtime_ini.read_text().splitlines()
@@ -79,12 +59,56 @@
 
     runtime_ini.write_text('\n'.join(runtime_content))
 
+
+try:
+    if (Path(__file__).parent / 'simulator/VERSION').exists():
+        # This is running from a release
+        print("Running in release mode")
+        project_root = Path(__file__).parent
+        requirements = project_root / "simulator/requirements.txt"
+    else:
+        # This is running from the repository
+        print("Running in development mode")
+        project_root = Path(__file__).parents[1]
+        requirements = project_root / "requirements.txt"
+
+    print(f"Python version: {sys.version} on {platform.platform()}")
+
+    venv_dir = project_root / "venv"
+
+    logger.info(f"Creating virtual environment in {venv_dir.absolute()}")
+    create(venv_dir, with_pip=True)
+
+    logger.info(f"Installing dependencies from {requirements.absolute()}")
+    if platform.system() == "Windows":
+        pip = venv_dir / "Scripts/pip.exe"
+        venv_python = venv_dir / "Scripts/python"
+    else:
+        pip = venv_dir / "bin/pip"
+        venv_python = venv_dir / "bin/python"
+    check_call(
+        [str(venv_python), "-m", "pip", "install", "--upgrade", "pip", "setuptools", "wheel"],
+        cwd=venv_dir,
+    )
+    check_call([str(pip), "install", "-r", str(requirements)], cwd=venv_dir)
+
+    logger.info("Setting up Webots Python location")
+
+    controllers_dir = project_root / "simulator/controllers"
+    usercode_ini = controllers_dir / "usercode_runner/runtime.ini"
+    supervisor_ini = controllers_dir / "competition_supervisor/runtime.ini"
+    populate_python_config(usercode_ini, venv_python)
+    populate_python_config(supervisor_ini, venv_python)
+
     # 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:
+    logger.error("Setup failed due to an error.")
+    input("An error occurred, press enter to close.")
 except Exception:
     logger.exception("Setup failed due to an error.")
     input("An error occurred, press enter to close.")
diff --git a/simulator/controllers/competition_supervisor/competition_supervisor.py b/simulator/controllers/competition_supervisor/competition_supervisor.py
new file mode 100644
index 0000000..1e73f0b
--- /dev/null
+++ b/simulator/controllers/competition_supervisor/competition_supervisor.py
@@ -0,0 +1,263 @@
+"""."""
+from __future__ import annotations
+
+import sys
+import time
+from contextlib import contextmanager
+from pathlib import Path
+from typing import Iterator
+
+from controller import Supervisor
+
+# Robot constructor lacks a return type annotation in R2023b
+sys.path.insert(0, Supervisor().getProjectPath())  # type: ignore[no-untyped-call]
+# from lighting_control import LightingControl
+import environment  # configure path to include modules
+from robot_logging import get_match_identifier, prefix_and_tee_streams
+from robot_utils import get_game_mode, get_match_data, get_robot_file
+
+# Get the robot object that was created when setting up the environment
+_robot = Supervisor.created
+assert _robot is not None, "Robot object not created"
+supervisor: Supervisor = _robot  # type: ignore[assignment]
+
+
+class RobotData:
+    """Data about a robot in the arena."""
+
+    def __init__(self, zone: int):
+        self.registered_ready = False
+        self.zone = zone
+        self.robot = supervisor.getFromDef(f'ROBOT{zone}')
+        if self.robot is None:
+            raise ValueError(f"Failed to get Webots node for zone {zone}")
+
+    def zone_occupied(self) -> bool:
+        """Check if this zone has a robot.py file associated with it."""
+        try:
+            _ = get_robot_file(self.zone)
+        except FileNotFoundError:
+            return False
+        return True
+
+    def remove_robot(self) -> None:
+        """Delete the robot proto from the world."""
+        self.robot.remove()  # type: ignore[attr-defined]
+
+    def preset_robot(self) -> None:
+        """Arm the robot so that it waits for the start signal."""
+        self.robot.getField('customData').setSFString('prestart')  # type: ignore[attr-defined]
+
+    def robot_ready(self) -> bool:
+        """Check if robot has set its pre-start flag."""
+        return bool(self.robot.getField('customData').getSFString() == 'ready')  # type: ignore[attr-defined]
+
+    def start_robot(self) -> None:
+        """Signal to the robot that the start button has been pressed."""
+        self.robot.getField('customData').setSFString('start')  # type: ignore[attr-defined]
+
+
+class Robots:
+    """A collection of robots in the arena."""
+
+    def __init__(self) -> None:
+        self.robots: dict[int, RobotData] = {}
+
+        for zone in range(0, environment.NUM_ZONES):
+            try:
+                robot_data = RobotData(zone)
+            except ValueError as e:
+                print(e)
+            else:
+                self.robots[zone] = robot_data
+
+    def remove_unoccupied_robots(self) -> None:
+        """Remove all robots that don't have usercode."""
+        for robot in list(self.robots.values()):
+            if not robot.zone_occupied():
+                robot.remove_robot()
+                _ = self.robots.pop(robot.zone)
+
+    def preset_robots(self) -> None:
+        """Arm all robots so that they wait for the start signal."""
+        for robot in self.robots.values():
+            robot.preset_robot()
+
+    def wait_for_ready(self, timeout: float) -> None:
+        """Wait for all robots to set their pre-start flags."""
+        end_time = supervisor.getTime() + timeout
+        while supervisor.getTime() < end_time:
+            all_ready = True
+            # Sleep in individual timesteps to allow the robots to update
+            supervisor.step()
+
+            for zone, robot in self.robots.items():
+                if not robot.registered_ready:
+                    if robot.robot_ready():
+                        print(f"Robot in zone {zone} is ready.")
+                        # Log only once per robot when ready
+                        robot.registered_ready = True
+                    else:
+                        all_ready = False
+            if all_ready:
+                break
+        else:
+            pending_robots = ', '.join([
+                str(zone)
+                for zone, robot in self.robots.items()
+                if not robot.robot_ready()
+            ])
+            raise TimeoutError(
+                f"Robots in zones {pending_robots} failed to initialise. "
+                f"Failed to reach wait_start() within {timeout} seconds."
+            )
+
+    def start_robots(self) -> None:
+        """Signal to all robots that their start buttons have been pressed."""
+        for robot in self.robots.values():
+            robot.start_robot()
+
+
+def is_dev_mode() -> bool:
+    """Load the mode file and check if we are in dev mode."""
+    return (get_game_mode() == 'dev')
+
+
+@contextmanager
+def record_animation(filename: Path) -> Iterator[None]:
+    """Record an animation for the duration of the manager."""
+    filename.parent.mkdir(parents=True, exist_ok=True)
+    print(f"Saving animation to {filename}")
+    supervisor.animationStartRecording(str(filename))
+    yield
+    supervisor.animationStopRecording()  # type: ignore[no-untyped-call]
+
+
+@contextmanager
+def record_video(
+    filename: Path,
+    resolution: tuple[int, int],
+    skip: bool = False
+) -> Iterator[None]:
+    """Record a video for the duration of the manager."""
+    filename.parent.mkdir(parents=True, exist_ok=True)
+
+    if skip:
+        print('Not recording movie')
+        yield
+        return
+    else:
+        print(f"Saving video to {filename}")
+
+    supervisor.movieStartRecording(
+        str(filename),
+        width=resolution[0],
+        height=resolution[1],
+        quality=100,
+        codec=0,
+        acceleration=1,
+        caption=False,
+    )
+    yield
+    supervisor.movieStopRecording()  # type: ignore[no-untyped-call]
+
+    while not supervisor.movieIsReady():  # type: ignore[no-untyped-call]
+        time.sleep(0.1)
+
+    if supervisor.movieFailed():  # type: ignore[no-untyped-call]
+        print("Movie failed to record")
+
+
+def save_image(filename: Path) -> None:
+    """Capture an image of the arena."""
+    filename.parent.mkdir(parents=True, exist_ok=True)
+    print(f"Saving image to {filename}")
+    supervisor.exportImage(str(filename), 100)
+
+
+def run_match(
+    match_duration: int,
+    media_path_stem: Path,
+    video_resolution: tuple[int, int],
+    skip_video: bool,
+) -> None:
+    """Run a match in the arena."""
+    robots = Robots()
+    robots.remove_unoccupied_robots()
+
+    time_step = int(supervisor.getBasicTimeStep())
+    match_timesteps = (match_duration * 1000) // time_step
+    # lighting_control = LightingControl(supervisor, match_timesteps)
+
+    robots.preset_robots()
+
+    robots.wait_for_ready(5)
+
+    with record_animation(media_path_stem.with_suffix('.html')):
+        # Animations don't support lighting changes so start the animation before
+        # setting the lighting. Step the simulation to allow the animation to start.
+        supervisor.step()
+        # Set initial lighting
+        # lighting_control.service_lighting(0)
+        with record_video(media_path_stem.with_suffix('.mp4'), video_resolution, skip_video):
+            print("===========")
+            print("Match start")
+            print("===========")
+
+            # We are ready to start the match now. "Press" the start button on the robots
+            robots.start_robots()
+            supervisor.simulationSetMode(Supervisor.SIMULATION_MODE_FAST)  # type: ignore[attr-defined]
+
+            # for current_step in range(match_timesteps + 1):
+            #     lighting_control.service_lighting(current_step)
+            #     supervisor.step(time_step)
+            supervisor.step(match_timesteps)
+
+            print("==================")
+            print("Game over, pausing")
+            print("==================")
+            supervisor.simulationSetMode(Supervisor.SIMULATION_MODE_PAUSE)  # type: ignore[attr-defined]
+
+        # To allow for a clear image of the final state, we have reset the
+        # lighting after the final frame of the video.
+        save_image(media_path_stem.with_suffix('.jpg'))
+        # TODO score match
+
+
+def main() -> None:
+    """Run the competition supervisor."""
+    if is_dev_mode():
+        robots = Robots()
+        robots.remove_unoccupied_robots()
+        exit()
+
+    match_data = get_match_data()
+    match_id = get_match_identifier()
+
+    prefix_and_tee_streams(
+        environment.ARENA_ROOT / f'supervisor-log-{match_id}.txt',
+        prefix=lambda: f'[{supervisor.getTime():0.3f}] ',
+    )
+
+    try:
+        # TODO check for required libraries?
+
+        run_match(
+            match_data.match_duration,
+            environment.ARENA_ROOT / 'recordings' / match_id,
+            video_resolution=match_data.video_resolution,
+            skip_video=(not match_data.video_enabled),
+        )
+        # Set the overall Webots exit code to follow the supervisor's exit code
+    except Exception as e:
+        # Print and step so error is printed to console
+        print(f"Error: {e}")
+        supervisor.step()
+        supervisor.simulationQuit(1)
+        raise
+    else:
+        supervisor.simulationQuit(0)
+
+
+if __name__ == '__main__':
+    main()
diff --git a/simulator/controllers/usercode_runner/usercode_runner.py b/simulator/controllers/usercode_runner/usercode_runner.py
index 8680c17..002b3cd 100644
--- a/simulator/controllers/usercode_runner/usercode_runner.py
+++ b/simulator/controllers/usercode_runner/usercode_runner.py
@@ -12,10 +12,8 @@
 import logging
 import os
 import runpy
-import subprocess
 import sys
 import threading
-from datetime import datetime
 from pathlib import Path
 from tempfile import TemporaryDirectory
 
@@ -24,7 +22,8 @@
 # Robot constructor lacks a return type annotation in R2023b
 sys.path.insert(0, Robot().getProjectPath())  # type: ignore[no-untyped-call]
 import environment  # configure path to include modules
-from robot_logging import prefix_and_tee_streams
+from robot_logging import get_match_identifier, prefix_and_tee_streams
+from robot_utils import get_game_mode, get_robot_file, print_simulation_version
 from sbot_interface.setup import setup_devices
 from sbot_interface.socket_server import SocketServer
 
@@ -36,65 +35,6 @@
 LOGGER = logging.getLogger('usercode_runner')
 
 
-def get_robot_file(robot_zone: int) -> Path:
-    """
-    Get the path to the robot file for the given zone.
-
-    :param robot_zone: The zone number
-    :return: The path to the robot file
-    :raises FileNotFoundError: If no robot controller is found for the given zone
-    """
-    robot_file = environment.ZONE_ROOT / f'zone_{robot_zone}' / 'robot.py'
-
-    # Check if the robot file exists
-    if not robot_file.exists():
-        raise FileNotFoundError(f"No robot controller found for zone {robot_file}")
-
-    return robot_file
-
-
-def get_game_mode() -> str:
-    """
-    Get the game mode from the game mode file.
-
-    Default to 'dev' if the file does not exist.
-
-    :return: The game mode
-    """
-    if environment.GAME_MODE_FILE.exists():
-        game_mode = environment.GAME_MODE_FILE.read_text().strip()
-    else:
-        game_mode = 'dev'
-
-    assert game_mode in ['dev', 'comp'], f'Invalid game mode: {game_mode}'
-
-    return game_mode
-
-
-def print_simulation_version() -> None:
-    """
-    Print the version of the simulator that is running.
-
-    Uses a VERSION file in the root of the simulator to determine the version.
-    For development, the version is uses the git describe command.
-
-    The version is printed to the console.
-    """
-    version_file = environment.SIM_ROOT / 'VERSION'
-    if version_file.exists():
-        version = version_file.read_text().strip()
-    else:
-        try:
-            version = subprocess.check_output(
-                ['git', 'describe', '--tags', '--always'],
-                cwd=str(environment.SIM_ROOT.resolve()),
-            ).decode().strip()
-        except subprocess.CalledProcessError:
-            version = 'unknown'
-
-    print(f"Running simulator version: {version}")
-
-
 def start_devices() -> SocketServer:
     """
     Create the board simulators and return the SocketServer object.
@@ -167,12 +107,13 @@ def main() -> bool:
         robot_file = get_robot_file(zone)
     except FileNotFoundError as e:
         print(e.args[0])
+        robot.step()
         # Not having a robot file is not an error in dev mode
-        return game_mode == 'comp'
+        return game_mode != 'comp'
 
     # Setup log file
     prefix_and_tee_streams(
-        robot_file.parent / f'log-{datetime.now():%Y_%m_%dT%H_%M_%S}.txt',
+        robot_file.parent / f'log-zone-{zone}-{get_match_identifier()}.txt',
         prefix=lambda: f'[{zone}| {robot.getTime():0.3f}] ',
     )
 
diff --git a/simulator/environment.py b/simulator/environment.py
index 65af930..2a1d673 100644
--- a/simulator/environment.py
+++ b/simulator/environment.py
@@ -3,15 +3,27 @@
 
 Also contains constants for where several important files are located.
 """
+import os
 import sys
 from pathlib import Path
 
 SIM_ROOT = Path(__file__).absolute().parent
-ZONE_ROOT = SIM_ROOT.parent
 MODULES_ROOT = SIM_ROOT / 'modules'
-GAME_MODE_FILE = SIM_ROOT / 'mode.txt'
 
-NUM_ZONES = 1
+ARENA_ROOT = Path(os.environ.get('ARENA_ROOT', SIM_ROOT.parent))
+ZONE_ROOT = ARENA_ROOT
+GAME_MODE_FILE = ARENA_ROOT / 'mode.txt'
+
+NUM_ZONES = 4
+DEFAULT_MATCH_DURATION = 150  # seconds
+
+
+if not ARENA_ROOT.is_absolute():
+    # Webots sets the current directory of each controller to the directory of
+    # the controller file. As such, relative paths would be ambiguous.
+    # Hint: `$PWD` or `%CD%` may be useful to construct an absolute path from
+    # your relative path.
+    raise ValueError(f"'ARENA_ROOT' must be an absolute path, got {ARENA_ROOT!r}")
 
 
 def setup_environment() -> None:
diff --git a/simulator/modules/robot_logging.py b/simulator/modules/robot_logging.py
index 56ba910..a6d39ff 100644
--- a/simulator/modules/robot_logging.py
+++ b/simulator/modules/robot_logging.py
@@ -7,10 +7,15 @@
 from __future__ import annotations
 
 import sys
+from datetime import datetime
 from io import TextIOWrapper
 from pathlib import Path
 from typing import Callable, TextIO
 
+from robot_utils import get_match_data
+
+DATE_IDENTIFIER = datetime.now().strftime("%Y_%m_%dT%H_%M_%S")
+
 
 class Tee(TextIOWrapper):
     """Forwards calls from its `write` and `flush` methods to each of the given targets."""
@@ -109,3 +114,19 @@ def prefix_and_tee_streams(name: Path, prefix: Callable[[], str] | str | None =
         ),
         prefix=prefix,
     )
+
+
+def get_match_identifier() -> str:
+    """
+    Get the identifier for this run of the simulator.
+
+    This identifier is used to name the log files.
+
+    :return: The match identifier
+    """
+    match_data = get_match_data()
+
+    if match_data.match_number is not None:
+        return f"match-{match_data.match_number}"
+    else:
+        return DATE_IDENTIFIER
diff --git a/simulator/modules/robot_utils.py b/simulator/modules/robot_utils.py
new file mode 100644
index 0000000..4cb02f5
--- /dev/null
+++ b/simulator/modules/robot_utils.py
@@ -0,0 +1,120 @@
+"""General utilities that are useful across runners."""
+from __future__ import annotations
+
+import json
+import platform
+import subprocess
+import sys
+from pathlib import Path
+from typing import NamedTuple
+
+# Configure path to import the environment configuration
+sys.path.insert(0, str(Path(__file__).parents[1]))
+import environment
+
+# Reset the path
+del sys.path[0]
+
+
+class MatchData(NamedTuple):
+    """
+    Data about the current match.
+
+    :param match_number: The current match number
+    :param match_duration: The duration of the match in seconds
+    :param video_enabled: Whether video recording is enabled
+    :param video_resolution: The resolution of the video recording
+    """
+
+    match_number: int | None = None
+    match_duration: int = environment.DEFAULT_MATCH_DURATION
+    video_enabled: bool = True
+    video_resolution: tuple[int, int] = (1920, 1080)
+
+
+def get_robot_file(robot_zone: int) -> Path:
+    """
+    Get the path to the robot file for the given zone.
+
+    :param robot_zone: The zone number
+    :return: The path to the robot file
+    :raises FileNotFoundError: If no robot controller is found for the given zone
+    """
+    robot_file = environment.ZONE_ROOT / f'zone_{robot_zone}' / 'robot.py'
+
+    # Check if the robot file exists
+    if not robot_file.exists():
+        raise FileNotFoundError(f"No robot code to run for zone {robot_zone}")
+
+    return robot_file
+
+
+def get_game_mode() -> str:
+    """
+    Get the game mode from the game mode file.
+
+    Default to 'dev' if the file does not exist.
+
+    :return: The game mode
+    """
+    if environment.GAME_MODE_FILE.exists():
+        game_mode = environment.GAME_MODE_FILE.read_text().strip()
+    else:
+        game_mode = 'dev'
+
+    assert game_mode in ['dev', 'comp'], f'Invalid game mode: {game_mode}'
+
+    return game_mode
+
+
+def print_simulation_version() -> None:
+    """
+    Print the version of the simulator that is running.
+
+    Uses a VERSION file in the root of the simulator to determine the version.
+    For development, the version is uses the git describe command.
+
+    The version is printed to the console.
+    """
+    version_file = environment.SIM_ROOT / 'VERSION'
+    if version_file.exists():
+        version = version_file.read_text().strip()
+    else:
+        try:
+            version = subprocess.check_output(
+                ['git', 'describe', '--tags', '--always'],
+                cwd=str(environment.SIM_ROOT.resolve()),
+            ).decode().strip()
+        except subprocess.CalledProcessError:
+            version = 'unknown'
+
+    print(
+        f"Running simulator version: {version} in Python {platform.python_version()} "
+        f"({platform.system()}-{platform.machine()})"
+    )
+
+
+def get_match_data() -> MatchData:
+    """Load the match data from the match data file."""
+    match_data_file = environment.ARENA_ROOT / 'match.json'
+    default_match_data = MatchData()
+
+    if match_data_file.exists():
+        # TODO error handling for invalid json
+        raw_data = json.loads(match_data_file.read_text())
+        match_data = MatchData(
+            match_number=raw_data.get('match_number', default_match_data.match_number),
+            match_duration=raw_data.get('duration', default_match_data.match_duration),
+            video_enabled=(
+                raw_data.get('recording_config', {})
+                .get('enabled', default_match_data.video_enabled)
+            ),
+            video_resolution=(
+                raw_data.get('recording_config', {})
+                .get('video_resolution', default_match_data.video_resolution)
+            ),
+        )
+    else:
+        match_data = default_match_data
+
+    return match_data
diff --git a/simulator/modules/sbot_interface/boards/servo_board.py b/simulator/modules/sbot_interface/boards/servo_board.py
index 536f623..0aa922e 100644
--- a/simulator/modules/sbot_interface/boards/servo_board.py
+++ b/simulator/modules/sbot_interface/boards/servo_board.py
@@ -44,7 +44,7 @@ def handle_command(self, command: str) -> str:
         if args[0] == '*IDN?':
             return f'Student Robotics:SBv4B:{self.asset_tag}:{self.software_version}'
         elif args[0] == '*STATUS?':
-            return f"{self.watchdog_fail}:{self.pgood}"
+            return f"{self.watchdog_fail:d}:{self.pgood:d}"
         elif args[0] == '*RESET':
             LOGGER.info(f'Resetting servo board {self.asset_tag}')
             for servo in self.servos:
diff --git a/simulator/modules/sbot_interface/devices/power.py b/simulator/modules/sbot_interface/devices/power.py
index 849914d..71b06d1 100644
--- a/simulator/modules/sbot_interface/devices/power.py
+++ b/simulator/modules/sbot_interface/devices/power.py
@@ -4,7 +4,7 @@
 from abc import ABC, abstractmethod
 from typing import Callable
 
-from sbot_interface.devices.util import get_globals
+from sbot_interface.devices.util import WebotsDevice, get_globals, get_robot_device
 
 
 class Output:
@@ -36,6 +36,36 @@ def get_current(self) -> int:
         return 0
 
 
+class ConnectorOutput(Output):
+    """
+    A class to represent a power output that controls a webots connector device.
+
+    :param device_name: The name of the device in webots.
+    :param downstream_current: A function to get the current draw of the downstream device.
+    """
+
+    def __init__(
+        self,
+        device_name: str,
+        downstream_current: Callable[[], int] | None = None,
+    ) -> None:
+        super().__init__(downstream_current)
+        g = get_globals()
+        self._device = get_robot_device(g.robot, device_name, WebotsDevice.Connector)
+        self._enabled = False
+
+    def set_output(self, enable: bool) -> None:
+        """Set the output state."""
+        if enable:
+            self._device.lock()  # type: ignore[no-untyped-call]
+        else:
+            self._device.unlock()  # type: ignore[no-untyped-call]
+
+    def get_output(self) -> bool:
+        """Get the output state."""
+        return self._device.isLocked()
+
+
 class BaseBuzzer(ABC):
     """The base class for the buzzer device."""
 
diff --git a/simulator/modules/sbot_interface/devices/servo.py b/simulator/modules/sbot_interface/devices/servo.py
index a25da32..e1daf1b 100644
--- a/simulator/modules/sbot_interface/devices/servo.py
+++ b/simulator/modules/sbot_interface/devices/servo.py
@@ -4,7 +4,10 @@
 The servo will apply a small amount of variation to the power setting to simulate
 inaccuracies in the servo.
 """
+from __future__ import annotations
+
 from abc import ABC, abstractmethod
+from typing import TYPE_CHECKING
 
 from sbot_interface.devices.util import (
     WebotsDevice,
@@ -14,8 +17,13 @@
     map_to_range,
 )
 
-MAX_POSITION = 2000
-MIN_POSITION = 1000
+if TYPE_CHECKING:
+    from controller import PositionSensor
+
+MAX_POSITION = 4000
+MIN_POSITION = 300
+SERVO_MAX = 1980
+SERVO_MIN = 350
 
 
 class BaseServo(ABC):
@@ -92,13 +100,16 @@ class Servo(BaseServo):
     """A servo connected to the Servo board."""
 
     def __init__(self, device_name: str) -> None:
-        self.position = (MAX_POSITION + MIN_POSITION) // 2
+        self.position = (SERVO_MAX + SERVO_MIN) // 2
         # TODO use setAvailableForce to simulate disabled
         self._enabled = False
         g = get_globals()
         self._device = get_robot_device(g.robot, device_name, WebotsDevice.Motor)
+        self._pos_sensor: PositionSensor | None = self._device.getPositionSensor()  # type: ignore[no-untyped-call]
         self._max_position = self._device.getMaxPosition()
         self._min_position = self._device.getMinPosition()
+        if self._pos_sensor is not None:
+            self._pos_sensor.enable(g.timestep)
 
     def disable(self) -> None:
         """Disable the servo."""
@@ -112,11 +123,11 @@ def set_position(self, value: int) -> None:
         """
         # Apply a small amount of variation to the power setting to simulate
         # inaccuracies in the servo
-        value = int(add_jitter(value, (MIN_POSITION, MAX_POSITION)))
+        value = int(add_jitter(value, (SERVO_MIN, SERVO_MAX)))
 
         self._device.setPosition(map_to_range(
             value,
-            (MIN_POSITION, MAX_POSITION),
+            (SERVO_MIN, SERVO_MAX),
             (self._min_position + 0.001, self._max_position - 0.001),
         ))
         self.position = value
@@ -128,6 +139,12 @@ def get_position(self) -> int:
 
         Position is the pulse width in microseconds.
         """
+        if self._pos_sensor is not None:
+            self.position = int(map_to_range(
+                self._pos_sensor.getValue(),
+                (self._min_position + 0.001, self._max_position - 0.001),
+                (MIN_POSITION, MAX_POSITION),
+            ))
         return self.position
 
     def get_current(self) -> int:
diff --git a/simulator/modules/sbot_interface/devices/util.py b/simulator/modules/sbot_interface/devices/util.py
index 9724b74..a160215 100644
--- a/simulator/modules/sbot_interface/devices/util.py
+++ b/simulator/modules/sbot_interface/devices/util.py
@@ -13,6 +13,7 @@
     Accelerometer,
     Camera,
     Compass,
+    Connector,
     DistanceSensor,
     Emitter,
     Gyro,
@@ -45,6 +46,7 @@ class WebotsDevice:
     Accelerometer = Accelerometer
     Camera = Camera
     Compass = Compass
+    Connector = Connector
     DistanceSensor = DistanceSensor
     Emitter = Emitter
     GPS = GPS
@@ -152,6 +154,6 @@ def add_jitter(
     std_dev = value * (std_dev_percent / 100.0)
     mean_offset = value * (offset_percent / 100.0)
 
-    error = value + gauss(mean_offset, std_dev)
+    error = gauss(mean_offset, std_dev)
     # Ensure the error is within the range
     return max(value_range[0], min(value_range[1], value + error))
diff --git a/simulator/protos/arena/Arena.proto b/simulator/protos/arena/Arena.proto
index 01ebf22..0754203 100755
--- a/simulator/protos/arena/Arena.proto
+++ b/simulator/protos/arena/Arena.proto
@@ -59,6 +59,7 @@ PROTO Arena [
         children [
           Solid {  # Floor
             translation 0 -0.002 0
+            rotation 0 0 1 3.1416
             children [
               DEF FLOOR Shape {
                 appearance Appearance {
diff --git a/simulator/protos/props/BoxToken.proto b/simulator/protos/props/BoxToken.proto
index f84f25c..461d7fa 100755
--- a/simulator/protos/props/BoxToken.proto
+++ b/simulator/protos/props/BoxToken.proto
@@ -7,13 +7,15 @@ EXTERNPROTO "./Marker.proto"
 PROTO BoxToken [
   field SFVec3f translation 0 0 0
   field SFRotation rotation 0 1 0 0
-  field SFVec3f size 0.12 0.12 0.12
+  field SFVec3f size 0.13 0.13 0.13
   field SFVec2f {0.08 0.08, 0.15 0.15, 0.2 0.2} marker_size 0.08 0.08
   field SFColor colour 0.7 0.55 0.35
   field SFString marker "0"
   field SFString model ""
-  field SFFloat mass 0.100
+  field SFFloat mass 0.080
   field MFString texture_url []
+  field SFFloat connectorStrength 35
+  field SFFloat connectorShear 20
 ]
 {
   Solid {
@@ -78,6 +80,39 @@ PROTO BoxToken [
         model IS marker
         texture_url IS texture_url
       }
+      # Shape {
+      #   appearance PBRAppearance {
+      #     transparency 0.4
+      #     baseColor 1 0 0
+      #   }
+      #   geometry Sphere {
+      #     radius %<= fields.size.value.x / 2 * 1.4 >%
+      #     subdivision 5
+      #   }
+      # }
+      Connector {
+        type "passive"
+        distanceTolerance %<= fields.size.value.x / 2 * 1.4 >%
+        axisTolerance 3.1415
+        rotationTolerance 0
+        numberOfRotations 0
+        tensileStrength IS connectorStrength
+        shearStrength IS connectorShear
+        snap FALSE
+        name "Front Connector"
+      }
+      Connector {
+        rotation 0 0 1 3.1416
+        type "passive"
+        distanceTolerance %<= fields.size.value.x / 2 * 1.4 >%
+        axisTolerance 3.1415
+        rotationTolerance 0
+        numberOfRotations 0
+        tensileStrength IS connectorStrength
+        shearStrength IS connectorShear
+        snap FALSE
+        name "Rear Connector"
+      }
     ]
     name IS model
     model IS model
diff --git a/simulator/worlds/arena.wbt b/simulator/worlds/arena.wbt
index 17e3fc0..54814c0 100755
--- a/simulator/worlds/arena.wbt
+++ b/simulator/worlds/arena.wbt
@@ -23,16 +23,32 @@ DEF AMBIENT Background {
 TexturedBackgroundLight {
 }
 
-SRObot {
-  name "robot"
+DEF ROBOT0 SRObot {
+  name "robot0"
   translation 0.45 1.95 0
   rotation 0 0 1 3.1415
-  flagColour 1 0 0
+  flagColour 0 1 0
   controllerArgs ["0"]
   controller "usercode_runner"
   customData "start"
 }
 
+DEF ROBOT1 SRObot {
+  name "robot1"
+  translation -0.45 -1.95 0
+  rotation 0 0 1 0
+  flagColour 1 0.4 0
+  controllerArgs ["1"]
+  controller "usercode_runner"
+  customData "start"
+}
+
+Robot {
+  name "competition_supervisor"
+  controller "competition_supervisor"
+  supervisor TRUE
+}
+
 Arena {
   size 5.4 5.4
   locked TRUE
@@ -81,11 +97,11 @@ DEF CANS Pose {
   children [
     Can {
       name "can1"
-      translation -0.3 0.44 0
+      translation -0.46 0.60 0
     }
     Can {
       name "can2"
-      translation -1.5 1.2 0
+      translation -1.48 1.1 0
     }
     Can {
       name "can3"
@@ -97,16 +113,16 @@ DEF CANS Pose {
     }
     Can {
       name "can5"
-      translation -1.5 -1.5 0
+      translation -1.48 -1.95 0
     }
 
     Can {
       name "can6"
-      translation 0.3 -0.44 0
+      translation 0.46 -0.6 0
     }
     Can {
       name "can7"
-      translation 1.5 -1.2 0
+      translation 1.48 -1.1 0
     }
     Can {
       name "can8"
@@ -118,7 +134,7 @@ DEF CANS Pose {
     }
     Can {
       name "can10"
-      translation 1.5 1.5 0
+      translation 1.48 1.95 0
     }
   ]
 }
@@ -127,7 +143,7 @@ Marker {
   name "A0"
   model "0"
   size 0.1 0.1
-  translation -1.4798 2.29 0.07
+  translation -1.4798 2.165 0.07
   rotation 0 0 1 1.5708
   texture_url ["sim_markers/0.png"]
   upright TRUE
@@ -136,7 +152,7 @@ Marker {
   name "A1"
   model "1"
   size 0.1 0.1
-  translation -1.4798 1.99 0.07
+  translation -1.4798 2.015 0.07
   rotation 0 0 1 1.5708
   texture_url ["sim_markers/1.png"]
   upright TRUE
@@ -145,7 +161,7 @@ Marker {
   name "A2"
   model "2"
   size 0.1 0.1
-  translation -0.4192 0.001 0.07
+  translation -0.535 0.001 0.07
   rotation 0 0 1 3.1415
   texture_url ["sim_markers/2.png"]
   upright TRUE
@@ -154,7 +170,7 @@ Marker {
   name "A3"
   model "3"
   size 0.1 0.1
-  translation -0.7192 0.001 0.07
+  translation -0.685 0.001 0.07
   rotation 0 0 1 3.1415
   texture_url ["sim_markers/3.png"]
   upright TRUE
@@ -163,7 +179,7 @@ Marker {
   name "A4"
   model "4"
   size 0.1 0.1
-  translation -2.699 0.91 0.07
+  translation -2.699 0.815 0.07
   rotation 0 0 1 1.5708
   texture_url ["sim_markers/4.png"]
   upright TRUE
@@ -172,7 +188,7 @@ Marker {
   name "A5"
   model "5"
   size 0.1 0.1
-  translation -2.699 0.61 0.07
+  translation -2.699 0.665 0.07
   rotation 0 0 1 1.5708
   texture_url ["sim_markers/5.png"]
   upright TRUE
@@ -181,7 +197,7 @@ Marker {
   name "A6"
   model "6"
   size 0.1 0.1
-  translation -2.19545 -1.98335 0.07
+  translation -2.14243 -2.03637 0.07
   rotation 0 0 1 2.3561
   texture_url ["sim_markers/6.png"]
   upright TRUE
@@ -190,7 +206,7 @@ Marker {
   name "A7"
   model "7"
   size 0.1 0.1
-  translation -1.98335 -2.19545 0.07
+  translation -2.03637 -2.14243 0.07
   rotation 0 0 1 2.3561
   texture_url ["sim_markers/7.png"]
   upright TRUE
@@ -200,7 +216,7 @@ Marker {
   name "B0"
   model "0"
   size 0.1 0.1
-  translation 1.4798 -2.29 0.07
+  translation 1.4798 -2.165 0.07
   rotation 0 0 1 -1.5708
   texture_url ["sim_markers/0.png"]
   upright TRUE
@@ -209,7 +225,7 @@ Marker {
   name "B1"
   model "1"
   size 0.1 0.1
-  translation 1.4798 -1.99 0.07
+  translation 1.4798 -2.015 0.07
   rotation 0 0 1 -1.5708
   texture_url ["sim_markers/1.png"]
   upright TRUE
@@ -218,7 +234,7 @@ Marker {
   name "B2"
   model "2"
   size 0.1 0.1
-  translation 0.4192 -0.001 0.07
+  translation 0.535 -0.001 0.07
   rotation 0 0 1 0
   texture_url ["sim_markers/2.png"]
   upright TRUE
@@ -227,7 +243,7 @@ Marker {
   name "B3"
   model "3"
   size 0.1 0.1
-  translation 0.7192 -0.001 0.07
+  translation 0.685 -0.001 0.07
   rotation 0 0 1 0
   texture_url ["sim_markers/3.png"]
   upright TRUE
@@ -236,7 +252,7 @@ Marker {
   name "B4"
   model "4"
   size 0.1 0.1
-  translation 2.699 -0.81 0.07
+  translation 2.699 -0.815 0.07
   rotation 0 0 1 -1.5708
   texture_url ["sim_markers/4.png"]
   upright TRUE
@@ -245,7 +261,7 @@ Marker {
   name "B5"
   model "5"
   size 0.1 0.1
-  translation 2.699 -0.51 0.07
+  translation 2.699 -0.665 0.07
   rotation 0 0 1 -1.5708
   texture_url ["sim_markers/5.png"]
   upright TRUE
@@ -254,7 +270,7 @@ Marker {
   name "B6"
   model "6"
   size 0.1 0.1
-  translation 2.19545 1.98335 0.07
+  translation 2.14243 2.03637 0.07
   rotation 0 0 1 -0.7853
   texture_url ["sim_markers/6.png"]
   upright TRUE
@@ -263,8 +279,11 @@ Marker {
   name "B7"
   model "7"
   size 0.1 0.1
-  translation 1.98335 2.19545 0.07
+  translation 2.03637 2.14243 0.07
   rotation 0 0 1 -0.7853
   texture_url ["sim_markers/7.png"]
   upright TRUE
 }
+
+# 5400/2 - 1219.2/2 ± 150/2/sqrt(2)
+# 2.14343, 2.03737
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