Water Robot Water Ball Competition 2D Simulation Platform URWPGSim2D is a platform for simulation testing of water robots. It is developed by the Peking University Intelligent Control Laboratory. It simulates the joint gesture changes of robot fish, motion state change and robot fish water ball completion running and so on. The strategy is based on URWPGSim2D platform, through large amount of test completion, research on the water robot stability under simulation environment, which aims to improve the stability of the underwater robot. Further, it can be used to improve the robustness of the simulation project strategy and lay a good foundation of algorithm, for the solid water robots in future. This strategy has achieved the game program in the 2016 International Water Robot Competition won the second prize, which indicates its effectiveness.