My team won the Judges Award at our national event. Potentially, would this qualify for us for Worlds?
Side note: Our highest skills run places us in the Top 20 in our country
Your best bet is to check the robotevents webpage of your specific event, then go to the awards section which would indicate which awards would qualify a team to Worlds.
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Do they usually accept Wildcards for Worlds? And if they do, do they choose from the other teams that won awards that day or from the skills rankings for that country?
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Wildcards are fully random.
It usually depends on your tournament, some tournaments say no but for most its usually yes. The best bet is to ask your tournament manager.