ADD: basic sim

controllers/my_controller/my_controller.py

+"""my_controller controller."""
+
+# You may need to import some classes of the controller module. Ex:
+#  from controller import Robot, Motor, DistanceSensor
+from controller import Robot
+
+# create the Robot instance.
+robot = Robot()
+
+# get the time step of the current world.
+timestep = int(robot.getBasicTimeStep())
+
+# You should insert a getDevice-like function in order to get the
+# instance of a device of the robot. Something like:
+motor = robot.getDevice('moose')
+ds = robot.getDevice('dsname')
+ds.enable(timestep)
+
+# Main loop:
+# - perform simulation steps until Webots is stopping the controller
+while robot.step(timestep) != -1:
+    # Read the sensors:
+    # Enter here functions to read sensor data, like:
+    val = ds.getValue()
+
+    # Process sensor data here.
+
+    # Enter here functions to send actuator commands, like:
+    motor.setPosition(10.0)
+    #pass
+
+# Enter here exit cleanup code.

worlds/.empty.wbproj

+Webots Project File version R2022a
+perspectives: 000000ff00000000fd00000002000000010000026d0000082afc0200000001fb0000001400540065007800740045006400690074006f007201000000140000082a0000008900ffffff00000003000006cf000000d9fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000006cf000000000000000000000af90000082a00000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff00000001000000020000016e00000a8e0100000002010000000100
+sceneTreePerspectives: 000000ff0000000100000002000000c0000000fa0100000002010000000200
+maximizedDockId: -1
+centralWidgetVisible: 1
+orthographicViewHeight: 1
+textFiles: 0 "controllers/my_controller/my_controller.py"

worlds/empty.wbt

+#VRML_SIM R2022a utf8
+WorldInfo {
+}
+Viewpoint {
+  orientation -0.11983785308044682 0.09382975071411193 0.9883495671319924 1.4440953869710094
+  position -3.074267466187142 -77.90569219932617 28.125151217528988
+}
+Moose {
+  hidden position_0_0 0.00013306353513683865
+  hidden position_0_1 -4.657893805559212e-05
+  hidden position_0_2 0.0001589276949843798
+  hidden position_0_3 -0.0002606719988015476
+  hidden position_0_4 0.00014068689332475537
+  hidden position_0_5 -0.0002724002604920586
+  hidden position_0_6 3.3789255993892166e-05
+  hidden position_0_7 5.085251207931985e-05
+  hidden rotation_1 -1 0 0 0.00013306353484261992
+  hidden rotation_2 1 0 0 4.657894196759461e-05
+  hidden rotation_3 -1 0 0 0.00015892769608741148
+  hidden rotation_4 1 0 0 0.00026067199915484493
+  hidden rotation_5 1 0 0 0.00014068689374689748
+  hidden rotation_6 -1 0 0 0.000272400259960944
+  hidden rotation_7 1 0 0 3.378924962947211e-05
+  hidden rotation_8 1 0 0 5.085250883067676e-05
+  translation 3.4488554728007257 -15.9620195668529 1.2391590877792884
+  rotation 0.034120978313643 -0.023631249584012064 -0.9991382901690927 1.5698848341583316
+  controller "my_controller"
+}
+TexturedBackground {
+}
+TexturedBackgroundLight {
+  texture "morning_cloudy_empty"
+  luminosity 2
+}
+UnevenTerrain {
+  size 50 50 2
+  appearance Grass {
+    textureTransform TextureTransform {
+      scale 10 10
+    }
+  }
+}