Merge pull request #960 from cyberbotics/merge-revision-into-develop

Merge revision into develop

.travis.yml

@@ -87,7 +87,6 @@ jobs:
             - libboost-dev
             - libjpeg8-dev
             - libavcodec-extra
-            - libpci-dev
             - libgd-dev
             - libtiff5-dev
             - libssh-gcrypt-dev

docs/automobile/openstreetmap-importer.md

@@ -18,7 +18,8 @@ Then install the Python `lxml`, `pyproj`, `shapely` and `webcolors` modules, as
 
 ```sh
 sudo apt-get install python-pip
-sudo pip install lxml pyproj shapely webcolors configparser
+pip install --upgrade pip
+pip install lxml pyproj shapely webcolors configparser --user
 ```
 
 ### macOS

docs/guide/installation-procedure.md

@@ -97,7 +97,7 @@ export WEBOTS_HOME=/home/username/webots
 The export line should however be included in a configuration script like "/etc/profile", so that it is set properly for every session.
 
 Some additional libraries are needed in order to properly run Webots.
-In particular *make*, *g++*, *libjpeg8-dev*, *ffmpeg*, and *libpci3* have to be installed on the system.
+In particular *make*, *g++*, *libjpeg8-dev* and *ffmpeg* have to be installed on the system.
 Other particular libraries could also be required to recompile some of the distributed binary files.
 In this case an error message will be printed in the Webots console mentioning the missing dependency.
 

docs/guide/modeling.md

@@ -126,7 +126,7 @@ void webots_physics_cleanup() {
 ```
 
 You will find the description of Webots physics plugin API [here](../reference/physics-plugin.md).
-You will find the description about the ODE functions on [this page](http://ode-wiki.org/wiki/index.php?title=Manual).
+You will find the description about the ODE functions on [this page](http://ode.org/wiki/index.php?title=Manual).
 
 ### Should I Specify the "mass" or the "density" in the Physics Nodes?
 

docs/guide/programming.md

@@ -29,7 +29,7 @@ A simulation example that shows both the [GPS](../reference/gps.md) and the [Sup
 
 In the physics plugin you can use ODE's `dBodyGetPosition` function.
 Note that this function returns the position of the center of mass of the body: this may be different from the center of the [Solid](../reference/solid.md).
-Please find a description of ODE functions [here](http://ode-wiki.org/wiki/index.php?title=Manual).
+Please find a description of ODE functions [here](http://ode.org/wiki/index.php?title=Manual).
 
 ### How Can I Get the Linear/Angular Speed/Velocity of a Robot/Object?
 
@@ -50,7 +50,7 @@ You will find more information about this function in the [Reference Manual](../
 
 In the physics plugin you can use the ODE's `dBodyGetLinearVel` and `dBodyAngularVel` functions.
 These functions return the linear velocity in meters per second, respectively the angular velocity in radians per second.
-Please find a description of ODE functions here: [here](http://ode-wiki.org/wiki/index.php?title=Manual).
+Please find a description of ODE functions here: [here](http://ode.org/wiki/index.php?title=Manual).
 
 ### How Can I Reset My Robot?
 
@@ -176,7 +176,7 @@ void webots_physics_step() {
 ```
 
 There is more info on the plugin functions in the [Reference Manual](../reference/physics-plugin.md).
-Additional information about the ODE functions can be found [here](http://ode-wiki.org/wiki/index.php?title=Manual).
+Additional information about the ODE functions can be found [here](http://ode.org/wiki/index.php?title=Manual).
 You may also want to study this example distributed with Webots:
 
 ```
@@ -247,7 +247,7 @@ Here is a naive example assuming that the robots are cylindrical and moving in t
 > ```
 
 - In the physics plugin: you can replace or extend Webots collision detection mechanism.
-This is an advanced technique that requires knowledge of the [ODE (Open Dynamics Engine) API](http://ode-wiki.org/wiki/index.php?title=Manual).
+This is an advanced technique that requires knowledge of the [ODE (Open Dynamics Engine) API](http://ode.org/wiki/index.php?title=Manual).
 Your collision detection mechanism must be implemented in the `webots_physics_collide` function.
 This function is described in the [Physics Plugin](../reference/physics-plugin.md) chapter of the [Reference Manual](../reference/physics-plugin.md).
 

docs/guide/scenes/mavic-2-pro/mavic-2-pro.meta.json

@@ -3,7 +3,7 @@
   "name": "mavic-2-pro", 
   "devices": [
     {
-      "transformID": "n196", 
+      "transformID": "n234", 
       "initialPosition": 0, 
       "name": "camera pitch", 
       "maxPosition": 1.7, 
@@ -13,7 +13,7 @@
       "axis": "0 1 0"
     }, 
     {
-      "transformID": "n212", 
+      "transformID": "n244", 
       "initialPosition": 0, 
       "name": "camera roll", 
       "maxPosition": 0.5, 
@@ -23,7 +23,7 @@
       "axis": "1 0 0"
     }, 
     {
-      "transformID": "n180", 
+      "transformID": "n224", 
       "initialPosition": 0, 
       "name": "camera yaw", 
       "maxPosition": 1.7, 
@@ -33,7 +33,7 @@
       "axis": "0 0 1"
     }, 
     {
-      "transformID": "n251", 
+      "transformID": "n303", 
       "initialPosition": 0, 
       "name": "front left propeller", 
       "maxPosition": 0, 
@@ -43,7 +43,7 @@
       "axis": "0 0 1"
     }, 
     {
-      "transformID": "n128", 
+      "transformID": "n178", 
       "initialPosition": 0, 
       "name": "front right propeller", 
       "maxPosition": 0, 
@@ -53,7 +53,7 @@
       "axis": "0 0 1"
     }, 
     {
-      "transformID": "n46", 
+      "transformID": "n61", 
       "initialPosition": 0, 
       "name": "rear left propeller", 
       "maxPosition": 0, 
@@ -63,7 +63,7 @@
       "axis": "0 0 1"
     }, 
     {
-      "transformID": "n87", 
+      "transformID": "n117", 
       "initialPosition": 0, 
       "name": "rear right propeller", 
       "maxPosition": 0, 
@@ -73,10 +73,10 @@
       "axis": "0 0 1"
     }, 
     {
-      "transformID": "n240", 
+      "transformID": "n266", 
       "name": "front left led", 
       "ledPBRAppearanceIDs": [
-        "n242"
+        "n268"
       ], 
       "ledColors": [
         "1 0 0"
@@ -85,10 +85,10 @@
       "type": "LED"
     }, 
     {
-      "transformID": "n167", 
+      "transformID": "n211", 
       "name": "front right led", 
       "ledPBRAppearanceIDs": [
-        "n169"
+        "n213"
       ], 
       "ledColors": [
         "1 0 0"
@@ -97,22 +97,22 @@
       "type": "LED"
     }, 
     {
-      "transformID": "n229", 
+      "transformID": "n255", 
       "type": "Camera", 
       "name": "camera"
     }, 
     {
-      "transformID": "n196", 
+      "transformID": "n234", 
       "type": "PositionSensor", 
       "name": "camera pitch sensor"
     }, 
     {
-      "transformID": "n212", 
+      "transformID": "n244", 
       "type": "PositionSensor", 
       "name": "camera roll sensor"
     }, 
     {
-      "transformID": "n180", 
+      "transformID": "n224", 
       "type": "PositionSensor", 
       "name": "camera yaw sensor"
     }, 

docs/guide/tutorial-5-compound-solid-and-physics-attributes.md

@@ -128,7 +128,7 @@ We recommend values between *8* and *16* for regular use of Webots.
 It's more difficult to explain the behavior of the `ERP` and `CFM` fields.
 These values are directly used by the physics engine to determine how the constraints are solved.
 The default values are well defined for regular use of Webots.
-We recommend to read the [Reference Manual](../reference/worldinfo.md) and the documentation of [ODE](http://ode-wiki.org/wiki/index.php?title=Manual) (physics engine used in Webots) to understand completely their purpose.
+We recommend to read the [Reference Manual](../reference/worldinfo.md) and the documentation of [ODE](http://ode.org/wiki/index.php?title=Manual) (physics engine used in Webots) to understand completely their purpose.
 
 ### Minor Physics Parameters
 

docs/reference/changelog-r2019.md

@@ -1,7 +1,7 @@
 # Webots R2019b Changelog
 
 ## Webots R2019b Revision 1
-Released on October 1st, 2019.
+Released on October 2nd, 2019.
 
   - New Robots
     - Added a [DJI Mavic 2 PRO](../guide/mavic-2-pro.md) quadcopter drone model.
@@ -13,14 +13,14 @@ Released on October 1st, 2019.
     - Added new appearance types for: `CarpetFibers` and `StonePavement`.
     - Added several bathroom objects and lights: `BathroomSink`, `Bathtube`, `Toilet`, `WashingMachine`, `CeilingSpotLight` and `ConstructionLamp`.
     - Added a C3dViewer PROTO to visualize C3D files in Webots.
-    - Added a new HDR background: `noon_cloudy_countryside`
+    - Added a new HDR background: `noon_cloudy_countryside`.
   - New Samples
     - Added new samples about the [Accelerometer](../guide/samples-devices.md#accelerometer-wbt) and [Brake](../guide/samples-devices.md#brake-wbt) devices.
     - Added a `village_center` world.
   - Dependency Updates
-    - macOS: Support the Catalina SDK
-    - Linux: upgraded to Qt 5.13.1
-    - Windows: upgraded to Qt 5.12.4
+    - macOS: Support the Catalina SDK.
+    - Linux: Upgraded to Qt 5.13.1.
+    - Windows: Upgraded to Qt 5.12.4.
   - Enhancements
     - Improved hyperlinks of the Help menu.
     - Improved the intensity and color of the bus, truck and car vehicle lights.
@@ -31,6 +31,7 @@ Released on October 1st, 2019.
       - Fixed [Fog](fog.md) type.
       - Fixed [ElevationGrid](elevationgrid.md) normals.
       - Fixed [Background](background.md) default color.
+      - Fixed [Cone](cone.md) and [Cylinder](cylinder.md) default radius and height.
       - Fixed bugs on `webots.alert`, `webots.confirm`, and editor reset dialogs.
       - Fixed rendering issues with [IndexedFaceSet](indexedfaceset.md) having default texture mapping.
       - Enabled console button in broadcast streaming mode.
@@ -47,7 +48,7 @@ Released on October 1st, 2019.
     - Fixed invalid node references in controllers after deleting nodes from Webots or from the [Supervisor](supervisor.md) API (thanks to @chilaire).
     - Fixed rendering issues if multiple texture coordinates of a face are equal.
     - Linux: Fixed missing Python3.7 controller API.
-    - Windows: Fixed possible DLL conflict with libssl-1_1-x64.dll and libcrypto-1_1-x64.dll.
+    - Windows: Fixed possible DLL conflict with libssl-1\_1-x64.dll and libcrypto-1\_1-x64.dll.
 
 ## [Webots R2019b](../blog/Webots-2019-b-release.md)
 Released on June 25th, 2019.

docs/reference/propeller.md

@@ -53,10 +53,10 @@ The example "propeller.wbt" located in the "projects/samples/devices/worlds" dir
 
 - `thrustConstants` and `torqueConstants`: coefficients used to define the resultant thrust and torque as functions of the motor angular velocity and the linear speed of adavance, see above formulae.
 
-- `fastHelixThreshold`: threshold in [rad/s] from which the helix representation is switched from `slowHelix` to` fastHelix`.
-The default value equals to `24 π [rad/s]`.
+- `fastHelixThreshold`: threshold in `[rad/s]` from which the helix representation is switched from `slowHelix` to` fastHelix`.
+The default value equals to 24π `[rad/s]`.
 
 - `device`: this field has to be set with a [RotationalMotor](rotationalmotor.md) in order to control the propeller.
 
 - `fastHelix` and `slowHelix`: if not NULL, these fields must be set with [Solid](solid.md) nodes.
-The corresponding [Solid](solid.md) nodes define the graphical representation of the propeller according to its motor's angular velocity omega: if |omega| > `fastHelixThreshold`, only the [Solid](solid.md) defined in `fastHelix` is visible, otherwise only the [Solid](solid.md) defined in `slowHelix` is visible.
+The corresponding [Solid](solid.md) nodes define the graphical representation of the propeller according to its motor's angular velocity omega: if `|omega| > fastHelixThreshold`, only the [Solid](solid.md) defined in `fastHelix` is visible, otherwise only the [Solid](solid.md) defined in `slowHelix` is visible.

projects/guided_tour.txt

@@ -5,12 +5,12 @@
 
 [Webots Guided Tour]
 
+projects/robots/dji/mavic/worlds/mavic_2_pro.wbt 20
 projects/robots/robotis/darwin-op/worlds/robotis_op3.wbt 22
 projects/robots/universal_robots/worlds/ure.wbt 20
 projects/vehicles/worlds/city.wbt 30
 projects/samples/rendering/worlds/animated_skin.wbt 30
 projects/robots/kinematics/tinkerbots/worlds/tinkerbots_demo.wbt 20
-projects/robots/dji/mavic/worlds/mavic_2_pro.wbt 20
 projects/robots/clearpath/moose/worlds/moose_demo.wbt 20
 projects/robots/k-team/khepera3/worlds/khepera3_gripper.wbt 20
 projects/robots/kuka/youbot/worlds/youbot.wbt 30

projects/humans/c3d/controllers/c3d_viewer/c3d_viewer.py

@@ -78,7 +78,7 @@ def getPointsList(reader, name):
 enableValueGraphs = []
 
 # parse arguments
-if len(sys.argv) < 3:
+if len(sys.argv) < 3 or sys.argv[1] == 'None':
     sys.exit('C3D file not defined.')
 
 if not os.path.isfile(sys.argv[1]):
@@ -99,11 +99,11 @@ def getPointsList(reader, name):
     print("Can't determine the size unit.")
 
 # extract point group labels
-labels = getPointsList(reader, 'LABELS')
-angleLabels = getPointsList(reader, 'ANGLES')
-forcesLabels = getPointsList(reader, 'FORCES')
-momentsLabels = getPointsList(reader, 'MOMENTS')
-powersLabels = getPointsList(reader, 'POWERS')
+labels = getPointsList(reader, 'LABELS') if getPointsList(reader, 'LABELS') is not None else []
+angleLabels = getPointsList(reader, 'ANGLES') if getPointsList(reader, 'ANGLES') is not None else []
+forcesLabels = getPointsList(reader, 'FORCES') if getPointsList(reader, 'FORCES') is not None else []
+momentsLabels = getPointsList(reader, 'MOMENTS') if getPointsList(reader, 'MOMENTS') is not None else []
+powersLabels = getPointsList(reader, 'POWERS') if getPointsList(reader, 'POWERS') is not None else []
 
 # get unit for each label group
 pointGroup = reader.groups['POINT']

projects/humans/c3d/protos/C3dViewer.proto

@@ -17,12 +17,18 @@ PROTO C3dViewer [
   field  SFFloat     bodyOffset                       0.25          # Defines the vertical offset of the body representation compared to the 'CenterOfMass' marker.
 ]
 {
+  %{
+    local c3dFile = fields.c3dFile.value
+    if c3dFile == nil or c3dFile == '' then
+      c3dFile = "None"
+    end
+  }%
   Robot {
     translation IS translation
     rotation IS rotation
     children IS markers
     controller "c3d_viewer"
-    controllerArgs %{= '"' .. fields.c3dFile.value .. ' ' ..
+    controllerArgs %{= '"' .. c3dFile .. ' ' ..
                               fields.playbackSpeed.value .. ' ' ..
                               fields.leftGroundReactionForceOffset.value.x .. ' ' ..
                               fields.leftGroundReactionForceOffset.value.y .. ' ' ..

projects/samples/devices/worlds/camera.wbt

@@ -37,7 +37,6 @@ DEF GREEN_BOX Solid {
   name "green box"
   boundingObject Shape {
     appearance PBRAppearance {
-      roughness 0
       metalness 0
     }
     geometry USE BOX0
@@ -61,7 +60,6 @@ DEF BLUE_BOX Solid {
   name "blue box"
   boundingObject Shape {
     appearance PBRAppearance {
-      roughness 0
       metalness 0
     }
     geometry USE BOX1
@@ -85,7 +83,6 @@ DEF WHITE_BOX Solid {
   name "gray box"
   boundingObject Shape {
     appearance PBRAppearance {
-      roughness 0
       metalness 0
     }
     geometry USE BOX2
@@ -109,7 +106,6 @@ DEF RED_BOX Solid {
   name "red box"
   boundingObject Shape {
     appearance PBRAppearance {
-      roughness 0
       metalness 0
     }
     geometry USE BOX3

projects/samples/devices/worlds/camera_motion_blur.wbt

@@ -37,7 +37,6 @@ DEF GREEN_BOX Solid {
   name "green box"
   boundingObject Shape {
     appearance PBRAppearance {
-      roughness 0
       metalness 0
     }
     geometry USE BOX0
@@ -61,7 +60,6 @@ DEF BLUE_BOX Solid {
   name "blue box"
   boundingObject Shape {
     appearance PBRAppearance {
-      roughness 0
       metalness 0
     }
     geometry USE BOX1
@@ -85,7 +83,6 @@ DEF WHITE_BOX Solid {
   name "gray box"
   boundingObject Shape {
     appearance PBRAppearance {
-      roughness 0
       metalness 0
     }
     geometry USE BOX2
@@ -109,7 +106,6 @@ DEF RED_BOX Solid {
   name "red box"
   boundingObject Shape {
     appearance PBRAppearance {
-      roughness 0
       metalness 0
     }
     geometry USE BOX3