Merge released into master (#2654)

* Update README.md * Backporting minor doc fixes from the master branch (#2630) * Replaced references to master with released in documentation (#2637) * Replaced references to master with released in documentation * Fixed CONTRIBUTING.md * Update installation-procedure.md (#2638) * Fixes documentation with respect to 3D mouse controls on Mac (#2642) * Update the-3d-window.md * Update webots-doc.css * Update the-3d-window.md * Update webots-doc.css * Update the-3d-window.md * Update the-3d-window.md * Update the-3d-window.md * Update bioloid.md * Update samples-devices.md * Update the-scene-tree.md * Update tutorial-1-your-first-simulation-in-webots.md * Update tutorial-2-modification-of-the-environment.md * Update tutorial-2-modification-of-the-environment.md * Update using-your-ide.md * Update debugging-c-cpp-controllers.md * Update matlab.md * Update installation-procedure.md * Update tutorial-1-your-first-simulation-in-webots.md * Update tutorial-3-appearance.md * Update tutorial-6-4-wheels-robot.md * Update samples-howto.md * Update the-3d-window.md * Update keyboard.md * Update docs/guide/debugging-c-cpp-controllers.md Co-authored-by: Stefania Pedrazzi <[email protected]> * Update docs/guide/matlab.md Co-authored-by: Stefania Pedrazzi <[email protected]> * Update docs/guide/tutorial-6-4-wheels-robot.md Co-authored-by: Stefania Pedrazzi <[email protected]> * Update docs/guide/the-scene-tree.md Co-authored-by: Stefania Pedrazzi <[email protected]> * Update tutorial-3-appearance.md * Update docs/reference/keyboard.md Co-authored-by: Stefania Pedrazzi <[email protected]> * Update docs/guide/tutorial-3-appearance.md Co-authored-by: Stefania Pedrazzi <[email protected]> Co-authored-by: Stefania Pedrazzi <[email protected]> * Update supervisor.md (#2646) * Update supervisor.md make the addForce description more clear, especially for Python users. * Update docs/reference/supervisor.md Co-authored-by: Olivier Michel <[email protected]> Co-authored-by: Olivier Michel <[email protected]> * Added "option key on Mac" instead of Alt key (#2652) * Added "option key on Mac" instead of Alt key * Update tutorial-1-your-first-simulation-in-webots.md * Update tutorial-1-your-first-simulation-in-webots.md Co-authored-by: Olivier Michel <[email protected]> * Update tutorial-1-your-first-simulation-in-webots.md (#2653) The maximum speed is 2 rad per second. The velocity is set to 10% of MAX_SPEED. Therefore the wheels should rotate at 0.2 rads / s. Co-authored-by: Olivier Michel <[email protected]> Co-authored-by: Simon Steinmann <[email protected]> Co-authored-by: Nikolaus Correll <[email protected]>
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diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -9,7 +9,7 @@ You don't need to be an expert in robotics or software development to become a c
 Depending on your skills, your contribution may address different parts of the Webots software:
 
 - Bug reporting: [A precise description](https://github.com/cyberbotics/webots/issues/new?template=bug_report.md) of a reproducible bug is very helpful to us.
-- Technical English writing: [documentation pages](https://github.com/cyberbotics/webots/tree/master/docs).
+- Technical English writing: [documentation pages](https://github.com/cyberbotics/webots/tree/released/docs).
 - Foreign language: [translate the user interface](https://github.com/cyberbotics/webots/tree/master/resources/translations) in your own language.
 - Python programming: [sample simulations](https://github.com/cyberbotics/webots/tree/master/projects/languages/python/controllers), libraries, tools such as [urdf2webots](https://github.com/cyberbotics/urdf2webots), etc.
 - C/C++ programming: [webots source code](https://github.com/cyberbotics/webots/tree/master/src), sample simulations, libraries, tools, etc.

diff --git a/docs/README.md b/docs/README.md
@@ -2,7 +2,7 @@
 
 This repository contains the documentation for the Webots open source simulation software.
 
-The master branch of this repository is in production on the Cyberbotics website, which you can access by visiting the following links:
+The released branch of this repository is in production on the Cyberbotics website, which you can access by visiting the following links:
 
 - https://www.cyberbotics.com/doc/guide/index
 - https://www.cyberbotics.com/doc/reference/index
@@ -12,8 +12,8 @@ The master branch of this repository is in production on the Cyberbotics website
 
 You are very welcome to contribute to make this documentation better.
 In order to proceed, follow these steps:
-1. Fork this repository 
-2. Make your modifications 
+1. Fork this repository
+2. Make your modifications
 3. Open a pull request that we will review and merge.
 
 ## To view a specific version:
@@ -31,7 +31,7 @@ Alternatively, it is possible to display the documentation corresponding to
 a github branch of this repository:
 
 ```
-https://www.cyberbotics.com/doc/guide/index?version=master
+https://www.cyberbotics.com/doc/guide/index?version=develop
 ```
 
 Or to a github branch (e.g. `reference_proto`) of any public github repository (e.g. `remidhum`):

diff --git a/docs/css/webots-doc.css b/docs/css/webots-doc.css
@@ -264,6 +264,20 @@ body {
 .webots-doc hr {
   margin: 40px 0px;
 }
+.webots-doc kbd {
+  display: inline-block;
+  padding: 3px 5px;
+  font: 11px SFMono-Regular,Consolas,Liberation Mono,Menlo,monospace;
+  line-height: normal;
+  line-height: 10px;
+  color: #444d56;
+  vertical-align: middle;
+  background-color: #fafbfc;
+  border-bottom-color: #d1d5da;
+  border: 1px solid #d1d5da;
+  border-radius: 6px;
+  box-shadow: inset 0 -1px 0 #d1d5da;
+}
 .webots-doc h1,
 .webots-doc h2,
 .webots-doc h3,

diff --git a/docs/guide/appearances.md b/docs/guide/appearances.md
diff --git a/docs/guide/bioloid.md b/docs/guide/bioloid.md
@@ -51,13 +51,13 @@ You will find the following sample in this folder: "WEBOTS\_HOME/projects/robots
 
 ![bioloid.wbt.png](images/robots/bioloid/bioloid.wbt.thumbnail.jpg) In this example, the dog-like robot model walks on a flat floor.
 
-Using the keyboard, the user can control the quadruped robot by setting the walking direction (forward or backwards) and also the heading direction (right or left).
+Using the keyboard, the user can control the quadruped robot by setting the walking direction (<kbd>▲</kbd> forward or <kbd>▼</kbd> backwards) and also the heading direction (<kbd>▶</kbd> right or <kbd>◀</kbd> left).
 Keyboard actions include:
 
-- `Right Arrow`: Turn right.
-- `Left Arrow`: Turn left.
-- `B`: Walk backwards.
-- `F`: Walk forward.
+- <kbd>▶</kbd>: Turn right.
+- <kbd>◀</kbd>: Turn left.
+- <kbd>B</kbd>: Walk backwards.
+- <kbd>F</kbd>: Walk forward.
 
 The walking gait used in the controller relies on an inverse kinematics model.
 Further details are available from [BIRG website](http://birg.epfl.ch/page66584.html).
@@ -68,7 +68,7 @@ During the walk, the extremity of each leg is describing an ellipsoid, the diame
 
 Other keyboard actions are also provided to fine-tune the frequency and the stride length factor:
 
-- `Q`: Increase frequency.
-- `W`: Decrease frequency.
-- `S`: Increase stride length factor.
-- `A`: Decrease stride length factor.
+- <kbd>Q</kbd>: Increase frequency.
+- <kbd>W</kbd>: Decrease frequency.
+- <kbd>S</kbd>: Increase stride length factor.
+- <kbd>A</kbd>: Decrease stride length factor.
diff --git a/docs/guide/debugging-c-cpp-controllers.md b/docs/guide/debugging-c-cpp-controllers.md
@@ -68,7 +68,7 @@ Once the break point is reached, you will be able to query variables, setup new
 Then, the `cont` command will instruct the debugger to resume the execution of the process.
 You may also use the `step` function to proceed step-by-step.
 
-The controller's execution can be interrupted at any time (Ctrl-C), in order to query variables, set up break points, etc.
+The controller's execution can be interrupted at any time (<kbd>ctrl</kbd>-<kbd>C</kbd>), in order to query variables, set up break points, etc.
 When a crash occurs, `gdb` prints a diagnostic message similar to this:
 
 ```

diff --git a/docs/guide/general-faq.md b/docs/guide/general-faq.md
@@ -6,7 +6,7 @@ Yes!
 
 Since the [R2019a version](../blog/Webots-2019-a-release.md), Webots is completely free and open-source.
 It remains under active development.
-The source code is available from [GitHub](https://github.com/cyberbotics/webots) and released under the terms of the [Apache 2 license](https://github.com/cyberbotics/webots/blob/master/LICENSE).
+The source code is available from [GitHub](https://github.com/cyberbotics/webots) and released under the terms of the [Apache 2 license](https://github.com/cyberbotics/webots/blob/released/LICENSE).
 
 Cyberbotics collaborates to several academic and industrial projects, and provides a paid user support, training and consulting for users who need to quickly develop high-quality Webots simulations.
 Please [contact us](mailto:[email protected]) for more information about our services.

diff --git a/docs/guide/generate_objects_doc.py b/docs/guide/generate_objects_doc.py
@@ -22,7 +22,7 @@
 
 from io import open
 
-# https://github.com/rcompton/ryancompton.net/blob/master/assets/praw_drugs/urlmarker.py
+# https://github.com/rcompton/ryancompton.net/blob/released/assets/praw_drugs/urlmarker.py
 WEB_URL_REGEX = \
     r'(?i)\b((?:https?:(?:/{1,3}|[a-z0-9%])|[a-z0-9.\-]+[.](?:com|net|org|edu|gov|mil|aero|asia|biz|cat|coop|info|' \
     r'int|jobs|mobi|museum|name|post|pro|tel|travel|xxx|ac|ad|ae|af|ag|ai|al|am|an|ao|aq|ar|as|at|au|aw|ax|az|ba|' \
@@ -273,7 +273,7 @@
         file.write(u'}\n')
         file.write(u'```\n\n')
         location = proto.replace(os.environ['WEBOTS_HOME'], '').replace(os.sep, '/')
-        file.write(u'> **File location**: "[WEBOTS\\_HOME%s](https://github.com/cyberbotics/webots/tree/master%s)"\n\n' %
+        file.write(u'> **File location**: "[WEBOTS\\_HOME%s](https://github.com/cyberbotics/webots/tree/released%s)"\n\n' %
                    (location.replace('_', '\\_'), location))
         if license:
             file.write(u'> **License**: %s\n' % license)

diff --git a/docs/guide/installation-procedure.md b/docs/guide/installation-procedure.md
@@ -219,7 +219,7 @@ rm ~/.cache/fontconfig/*
 
 #### Server Edition
 
-Webots requires some graphical features that are usually not available by default on a Linux server edition, [additional packages](https://github.com/cyberbotics/webots/blob/master/scripts/install/linux_runtime_dependencies.sh) needs to be manually installed to make it work.
+Webots requires some graphical features that are usually not available by default on a Linux server edition, [additional packages](https://github.com/cyberbotics/webots/blob/released/scripts/install/linux_runtime_dependencies.sh) needs to be manually installed to make it work.
 
 Webots can be run without GUI using a virtual framebuffer such as [Xvfb](https://en.wikipedia.org/wiki/Xvfb):
 ```
@@ -297,12 +297,12 @@ A [Homebrew package](https://formulae.brew.sh/cask/webots) is available for Webo
 
 If brew is not already installed on your computer, install it with the following command in a terminal:
 ```
-/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)"
+/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/released/install.sh)"
 ```
 
 Webots can then be installed with:
 ```
-brew cask install webots
+brew install --cask webots
 ```
 
 #### Working around macOS Gatekeeper
@@ -316,7 +316,7 @@ You will need administrator privileges to be able to install Webots.
 
 %end
 
-You should <kbd>Ctrl</kbd> + click (or right-click) on the Webots icon, and select the `Open` menu item.
+You should <kbd>ctrl</kbd> + click (or right-click) on the Webots icon, and select the `Open` menu item.
 Then, macOS should propose to open the application anyway (see [this figure](#unidentified-developer-dialog)).
 
 %figure "Open Webots anyway"

diff --git a/docs/guide/interfacing-webots-to-third-party-software-with-tcp-ip.md b/docs/guide/interfacing-webots-to-third-party-software-with-tcp-ip.md
@@ -6,10 +6,10 @@ Webots offers programming APIs for the following languages: C/C++, Java, Python
 It is also possible to interface Webots with other programming languages of software packages, such as *Lisp*<sup>TM</sup>, *LabView*<sup>TM</sup>, etc.
 Such an interface can be implemented through a TCP/IP protocol that you can define yourself.
 Webots comes with an example of interfacing a simulated Khepera robot via TCP/IP to any third party program able to read from and write to a TCP/IP connection.
-This example world is called "[khepera\_tcpip.wbt](https://github.com/cyberbotics/webots/tree/master/projects/robots/k-team/khepera1/worlds/khepera_tcpip.wbt)", and can be found in the "[WEBOTS\_HOME/projects/robots/k-team/khepera1/worlds](https://github.com/cyberbotics/webots/tree/master/projects/robots/k-team/khepera1/worlds)" directory of Webots.
-The simulated Khepera robot is controlled by the "[tcpip](https://github.com/cyberbotics/webots/blob/master/projects/robots/k-team/khepera1/controllers/tcpip)" controller which is in the "[controllers](https://github.com/cyberbotics/webots/blob/master/projects/robots/k-team/khepera1/controllers)" directory of the same project.
-This small C controller comes with full source code in "[tcpip.c](https://github.com/cyberbotics/webots/blob/master/projects/robots/k-team/khepera1/controllers/tcpip/tcpip.c)", so that you can modify it to suit your needs.
-A client example is provided in "[client.c](https://github.com/cyberbotics/webots/blob/master/projects/robots/k-team/khepera1/controllers/tcpip/client.c)".
+This example world is called "[khepera\_tcpip.wbt](https://github.com/cyberbotics/webots/tree/released/projects/robots/k-team/khepera1/worlds/khepera_tcpip.wbt)", and can be found in the "[WEBOTS\_HOME/projects/robots/k-team/khepera1/worlds](https://github.com/cyberbotics/webots/tree/released/projects/robots/k-team/khepera1/worlds)" directory of Webots.
+The simulated Khepera robot is controlled by the "[tcpip](https://github.com/cyberbotics/webots/blob/released/projects/robots/k-team/khepera1/controllers/tcpip)" controller which is in the "[controllers](https://github.com/cyberbotics/webots/blob/released/projects/robots/k-team/khepera1/controllers)" directory of the same project.
+This small C controller comes with full source code in "[tcpip.c](https://github.com/cyberbotics/webots/blob/released/projects/robots/k-team/khepera1/controllers/tcpip/tcpip.c)", so that you can modify it to suit your needs.
+A client example is provided in "[client.c](https://github.com/cyberbotics/webots/blob/released/projects/robots/k-team/khepera1/controllers/tcpip/client.c)".
 This client may be used as a model to write a similar client using the programming language of your third party software.
 This has already been implemented in *Lisp*<sup>TM</sup> and MATLAB by some Webots users.
 
@@ -21,7 +21,7 @@ To allow the "tcpip" process to open a different port depending on the controlle
 
 The second advantage is that you can also control a real robot from your third party software by simply implementing your library based on the given remote control library.
 Switching to the remote control mode will redirect the input/output to the real robot through the Inter-Process Communication (IPC).
-An example of remote control is implemented for the e-puck robot in the file "[WEBOTS\_HOME/projects/robots/gctronic/e-puck/worlds/e-puck.wbt](https://github.com/cyberbotics/webots/tree/master/projects/robots/gctronic/e-puck/worlds/e-puck.wbt)" directory of Webots.
+An example of remote control is implemented for the e-puck robot in the file "[WEBOTS\_HOME/projects/robots/gctronic/e-puck/worlds/e-puck.wbt](https://github.com/cyberbotics/webots/tree/released/projects/robots/gctronic/e-puck/worlds/e-puck.wbt)" directory of Webots.
 
 The third advantage is that you can spread your controller programs over a network of computers.
 This is especially useful if the controller programs perform computationally expensive algorithms such as genetic algorithms or other learning techniques.
@@ -36,4 +36,4 @@ In the latter case, you may want to run the simulation in real time mode so that
 
 The main drawback of TCP/IP interfacing is that if your robot has a camera device, the protocol must send the images to the controller via TCP/IP, which might be network intensive.
 Hence it is recommended to have a high speed network, or use small resolution camera images, or compress the image data before sending it to the controller.
-This overhead is negligible if you use a low resolution camera such as the Khepera K213 (see example "[WEBOTS\_HOME/projects/robots/k-team/khepera1/worlds/khepera\_k213.wbt](https://github.com/cyberbotics/webots/tree/master/projects/robots/k-team/khepera1/worlds/khepera_k213.wbt)").
+This overhead is negligible if you use a low resolution camera such as the Khepera K213 (see example "[WEBOTS\_HOME/projects/robots/k-team/khepera1/worlds/khepera\_k213.wbt](https://github.com/cyberbotics/webots/tree/released/projects/robots/k-team/khepera1/worlds/khepera_k213.wbt)").
diff --git a/docs/guide/matlab.md b/docs/guide/matlab.md
@@ -53,7 +53,7 @@ Then MATLAB opens your controller m-file in its editor and indicates that the ex
 After that, the controller m-file can be debugged interactively, i.e., it is possible to continue the execution step-by-step, set break points, watch variable, etc.
 While debugging, the current values of the controller variables are shown in the MATLAB workspace.
 It is possible to *continue* the execution of the controller by typing `return` at the `K>>` prompt.
-Finally the execution of the controller can be terminated with `Ctrl-C` key combination.
+Finally the execution of the controller can be terminated with <kbd>ctrl</kbd>-<kbd>C</kbd> key combination.
 
 Once the controller is terminated, the connection with Webots remains active.
 Therefore it becomes possible to issue Webots commands directly on the MATLAB prompt, for example you can interactively issue commands to query the sensors, etc.:

diff --git a/docs/guide/mavic-2-pro.md b/docs/guide/mavic-2-pro.md
@@ -36,7 +36,7 @@ PROTO Mavic2Pro {
 
 ### Samples
 
-You will find the following sample in this folder: [WEBOTS\_HOME/projects/robots/dji/mavic/worlds](https://github.com/omichel/webots/tree/master/projects/robots/dji/mavic/worlds).
+You will find the following sample in this folder: [WEBOTS\_HOME/projects/robots/dji/mavic/worlds](https://github.com/omichel/webots/tree/released/projects/robots/dji/mavic/worlds).
 
 #### mavic\_2\_pro.wbt
 

diff --git a/docs/guide/object-advertising-board.md b/docs/guide/object-advertising-board.md
@@ -35,7 +35,7 @@ AdvertisingBoard {
 }
 ```
 
-> **File location**: "[WEBOTS\_HOME/projects/objects/advertising\_board/protos/AdvertisingBoard.proto](https://github.com/cyberbotics/webots/tree/master/projects/objects/advertising_board/protos/AdvertisingBoard.proto)"
+> **File location**: "[WEBOTS\_HOME/projects/objects/advertising\_board/protos/AdvertisingBoard.proto](https://github.com/cyberbotics/webots/tree/released/projects/objects/advertising_board/protos/AdvertisingBoard.proto)"
 
 > **License**: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
 [More information.](https://cyberbotics.com/webots_assets_license)