Minimalist Python controller example for the Humanoid Robot Wrestling Competition. Demonstrates how to play a simple motion file. We use the Motion class from Webots. It could also be programmed in C, C++ or Java.
from controller import Robot, Motion
class Alice (Robot):
def run(self):
# motion files are text files containing pre-recorded positions of the robot's joints
handWave = Motion('../motions/HandWave.motion')
handWave.setLoop(True)
handWave.play()
# retrieves the simulation time step (ms) from the world file
time_step = int(self.getBasicTimeStep())
while self.step(time_step) != -1: # Mandatory function to make the simulation run
pass
# create the Robot instance and run main loop
wrestler = Alice()
wrestler.run()Bob is a more advanced robot controller able to win against Alice.