The Qwerk SimpleRobotClient gives easy access to a subset of its features in java, but the interface is a bit inflexible- you get the camera feed, text I/O and a couple of buttons. I wanted to extend upon this to include graphical elements, but rebuilding the client from scratch looked a bit too daunting.
However, I have a little bit of experience with the processing language, which is also built upon java, and today I was able to confirm that without too much work it's possible to have a processing applet interacting with the SimpleRobotClient, invoking both from a parent java program to handle communication between the two. So here's a quick proof-of-concept for that!
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