diff --git a/sbot/serial_wrapper.py b/sbot/serial_wrapper.py
index 7013d41..a5a8a75 100644
--- a/sbot/serial_wrapper.py
+++ b/sbot/serial_wrapper.py
@@ -6,6 +6,7 @@
 """
 from __future__ import annotations
 
+import os
 import logging
 import sys
 import threading
@@ -30,6 +31,11 @@
 
 E = TypeVar("E", bound=BaseException)
 
+if os.environ.get('WEBOTS_SIMULATOR', '') == '1':
+    BASE_TIMEOUT = 5
+else:
+    BASE_TIMEOUT = 0.5
+
 
 def retry(
     times: int, exceptions: type[E] | tuple[type[E], ...]
@@ -80,7 +86,7 @@ def __init__(
         self,
         port: str,
         baud: int,
-        timeout: float = 0.5,
+        timeout: float = BASE_TIMEOUT,
         identity: BoardIdentity = BoardIdentity(),
         delay_after_connect: float = 0,
     ):