Merge develop in feature-web-proto (#5693)

* Fix infinite dictionary update (#5676) * Port changes to master branch * Check if field triggers regeneration before using it after changing the value * Fix brackets * Update changelog * Disable Select button in WbExtendedStringEditor for restricted fields (#5663) * Update WbExtendedStringEditor.hpp * Disable select button for restricted fields * Update changelog-r2023.md * Fix wrong assertion failure for console redirection (#5671) * Add null if nothing was read * Update src/controller/c/robot.c Co-authored-by: Olivier Michel <[email protected]> Co-authored-by: Olivier Michel <[email protected]> * Improve automobile documentation (#5653) * Add vehicles documentation * Improve PROTO descriptions and fix default translations * update icon_creator * Update images * Update generated sources * Update model image * Add image thumbnails * Reuse script for generating vehicles doc * Reuse script for generating vehicles doc * Fix image path * Update car.md * Fix anchors * Update vehicle-citroen.md * Update vehicle-lincoln.md * Update vehicle-range-rover.md * Update vehicle-tesla.md * Update vehicle-toyota.md * Update ToyotaPrius.proto * Update vehicle-toyota.md * Update car.md * Update vehicle-generic.md * Update BusWheel.proto * Update vehicle-bmw.md * Update vehicle-citroen.md * Update vehicle-toyota.md * Update BmwX5Wheel.proto * Update CitroenCZeroFrontWheel.proto * Update CitroenCZeroRearWheel.proto * Update ToyotaPrius.proto * Fix documentation generated from PROTO files * Fix pep8 error * Update car.md * Add car PROTO field descriptions * Add description to generic vehicle fields * Regenerate documentation * Remove duplicated util file * Add entry in Changelog * Improve robustness to NaN values in robot window plots (#5680) * Ignore NaN values when adjusting the plot range * Add ChangeLog entry * Better working directory on Windows (#5685) Co-authored-by: Stefania Pedrazzi <[email protected]> Co-authored-by: Yannick Goumaz <[email protected]> Co-authored-by: Olivier Michel <[email protected]>
cyberbotics · Dec 23, 2022 · 992c706 · 992c706
1 parent c9e3af4
commit 992c706
Show file tree

Hide file tree

Showing 151 changed files with 2,873 additions and 832 deletions.
diff --git a/docs/automobile/car.md b/docs/automobile/car.md
@@ -22,7 +22,7 @@ Car {
   MFFloat    gearRatio                      [-12 10 7 5 2.5 1]
   SFFloat    hybridPowerSplitRatio          0.25
   SFFloat    hybridPowerSplitRPM            3000
-  SFString     window                       "automobile"
+  SFString   window                         "automobile"
 }
 ```
 
@@ -107,19 +107,20 @@ For the three other sensor slots, the positions are different for each model (be
 
 | Model                | Front slot translation | Top slot translation | Rear slot translation |
 | -------------------- | ---------------------- | -------------------- | --------------------- |
-| BmwX5                | 3.85 0 0.45            | 1 0 1.45             | -1 0 0.3              |
-| LincolnMKZ           | 3.944 0 0.142          | 1.11 0 1.16          | -1.06 0 0.33          |
-| RangeRoverSportSVR   | 3.5 0 0.5              | 1.4 0 1.3            | -1.06 0 0.33          |
-| CitroenCZero         | 3.075 0 0.05           | 1.075 0 1.35         | -0.425 0 0.3          |
-| ToyotaPrius          | 3.635 0 0.4            | 1.1 0 1.3            | -0.85 0 0.3           |
-| TeslaModel3          | 3.79 0 0.142           | 1.11 0 1.16          | -1.05 0 0.2           |
-| MercedesBenzSprinter | 5.31 0 0.47            | 2.99 0 2.3           | 0 0 1 3.1415          |
+| [BmwX5](vehicle-bmw.md#bmwx5)                                         | 3.85 0 0.45   | 1 0 1.45     | -1 0 0.3     |
+| [LincolnMKZ](vehicle-lincoln.md#lincolnmkz)                           | 3.944 0 0.142 | 1.11 0 1.16  | -1.06 0 0.33 |
+| [RangeRoverSportSVR](vehicle-range-rover.md#rangeroversportsvr)       | 3.5 0 0.5     | 1.4 0 1.3    | -1.06 0 0.33 |
+| [CitroenCZero](vehicle-citroen.md#citroenczero)                       | 3.075 0 0.05  | 1.075 0 1.35 | -0.425 0 0.3 |
+| [ToyotaPrius](vehicle-toyota.md#toyotaprius)                          | 3.635 0 0.4   | 1.1 0 1.3    | -0.85 0 0.3  |
+| [TeslaModel3](vehicle-tesla.md#teslamodel3)                           | 3.79 0 0.142  | 1.11 0 1.16  | -1.05 0 0.2  |
+| [MercedesBenzSprinter](vehicle-mercedes-benz.md#mercedesbenzsprinter) | 5.31 0 0.47   | 2.99 0 2.3   | 0 0 1 3.1415 |
+
 
 %end
 
 ### Heavy-Weights
 
-Just like the car models presented above, two generic heavy-weights PROTO inherit from the `Car` PROTO: a bus and a truck.
+Just like the car models presented above, two generic heavy-weights PROTO models inherit from the `Car` PROTO: a bus and a truck.
 In the case of the truck, a trailer can be present or not.
 The latter is the `endPoint` of a [HingeJoint](../reference/hingejoint.md) allowing the trailer to freely rotate around its attachment point.
 There are currently two trailers to be used: a regular one and a tank shaped model.
@@ -138,11 +139,23 @@ The rest of the positions can be seen in the [following table](#positions-of-the
 
 | Model   | Front slot translation | Top slot translation | Rear slot translation |
 | ------- | ---------------------- | -------------------- | --------------------- |
-| Bus     | 11.5 0 0.2             | 2.5 0 5.3            | -6.2 0 1              |
-| Truck   | 6.75 0 1.1             | 4.3 0 4.15           | -7.3 0 2.7            |
+| [Bus](vehicle-generic.md#bus)    | 11.5 0 0.2 | 2.5 0 5.3  | -6.2 0 1           |
+| [Truck](vehicle-generic.md#truck)| 6.75 0 1.1 | 4.3 0 4.15 | -7.3 0 2.7         |
+
+%end
+
+### Agricultural Vehicles
+
+A [Tractor](vehicle-generic.md#tractor) PROTO model is also provided which inherits from the `Car` PROTO.
+
+%figure "Model of a Tractor using the `Car` PROTO"
+
+![Tractor.png](images/generic/Tractor.thumbnail.png)
 
 %end
 
+The [Tractor](vehicle-generic.md#tractor) PROTO model provides a `sensorSlot` at center of the vehicle.
+
 ### Simple Vehicles
 
 In addition to the controllable models of vehicle, several kinematic vehicles (called 'simple') are available.
@@ -197,8 +210,8 @@ The different simple versions of the car PROTO nodes represent the different mod
 
 #### TwoWheelerSimple
 
-Due to the presence of driver, the TwoWheelerSimple PROTO nodes have a slightly different organization.
-Similar to CarSimple, the TwoWheelerSimple PROTO displayed bellow is just a common structure for the different versions of the two wheelers.
+Due to the presence of driver, the TwoWheelerSimple PROTO node have a slightly different organization.
+Similar to CarSimple, the TwoWheelerSimple PROTO displayed below is just a common structure for the different versions of the two wheelers.
 
 ```
 PROTO TwoWheelerSimple {
@@ -218,7 +231,7 @@ PROTO TwoWheelerSimple {
 - `secondaryColor`: Defines a secondary color to be chosen alongside the main one.
 - `driver`: Defines a `Slot` node for the two-wheeler driver.
 
-ScooterSimple and MotorbikeSimple are examples of actual TwoWheelerSimple PROTO that represent a scooter and a motorbike:
+[ScooterSimple](vehicle-generic.md#scootersimple) and [MotorbikeSimple](vehicle-generic.md#motorbikesimple) are examples of actual TwoWheelerSimple PROTO that represent a scooter and a motorbike:
 
 %figure "Models of ScooterSimple and MotorbikeSimple currently available"
 

diff --git a/docs/automobile/generate_vehicles_doc.py b/docs/automobile/generate_vehicles_doc.py
@@ -0,0 +1,81 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# Copyright 1996-2023 Cyberbotics Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+from io import open
+import sys
+sys.path.append('../')
+from generate_doc_util import get_proto_files_in_directory, generate_doc_for_proto_files  # noqa: E402
+
+
+def get_category(proto_file):
+    category = os.path.basename(os.path.dirname(proto_file))
+    return category, 'vehicles'
+
+
+# look for all the PROTO files
+vehiclesDir = os.path.join(os.environ['WEBOTS_HOME'], 'projects', 'vehicles', 'protos')
+carsDirNames = ['bmw', 'citroen', 'lincoln', 'mercedes_benz', 'range_rover', 'tesla', 'toyota', 'generic']
+fileList = []
+for dirName in carsDirNames:
+    fileList += get_proto_files_in_directory(os.path.join(vehiclesDir, dirName))
+fileList = sorted(fileList)
+
+# make sure that if a PROTO has the same name than the title it appears first
+prioritaryProtoList = []
+for proto in fileList:
+    protoName = os.path.basename(proto).split('.')[0]
+    categoryName = os.path.basename(os.path.dirname(os.path.dirname(proto)))
+    upperCategoryName = os.path.basename(os.path.dirname(os.path.dirname(os.path.dirname(proto))))
+    if protoName.lower() == categoryName and upperCategoryName == 'objects':
+        prioritaryProtoList.append(proto)
+        fileList.remove(proto)
+
+upperCategories = generate_doc_for_proto_files(
+    prioritaryProtoList + fileList,
+    {},
+    'vehicle-',
+    get_category
+)
+
+# write the menu in 'object.md'
+upperCategoriesList = sorted(upperCategories.keys())
+categoriesList = []
+with open('proto-nodes.md', 'w', encoding='utf-8', newline='\n') as file:
+    file.write(u'# PROTO Nodes\n\n')
+    file.write(u'This section presents the set of PROTO nodes developed specifically for automobile related simulations, ' +
+               'from the PROTO of a wheel to the PROTO of a complete car.\n\n')
+    file.write(u'## Sections\n\n')
+    file.write(u'- [AckermannVehicle](ackermannvehicle.md)\n')
+    file.write(u'- [VehicleWheel](vehiclewheel.md)\n')
+    file.write(u'- [Car](car.md)\n')
+    for upperCategory in upperCategoriesList:
+        categories = sorted(upperCategories[upperCategory])
+        for category in categories:
+            categoriesList.append(category)
+            file.write(u'- [%s](vehicle-%s.md)\n' % (category.replace('_', ' ').title(), category.replace('_', '-')))
+    file.write(u'\n')
+
+# print the updated part of 'menu.md'
+categoriesList = sorted(categoriesList)
+print("Please update the 'PROTO Nodes' part in 'menu.md' with:")
+print('    - [AckermannVehicle](ackermannvehicle.md)')
+print('    - [VehicleWheel](vehiclewheel.md)')
+print('    - [Car](car.md)')
+print('    - [Car](car.md)')
+for category in categoriesList:
+    print('    - [%s](vehicle-%s.md)' % (category.replace('_', ' ').title(), category.replace('_', '-')))
diff --git a/docs/automobile/images/BmwX5Wheel.png b/docs/automobile/images/BmwX5Wheel.png
diff --git a/docs/automobile/images/bmw/BmwX5.png b/docs/automobile/images/bmw/BmwX5.png
diff --git a/docs/automobile/images/bmw/BmwX5.thumbnail.png b/docs/automobile/images/bmw/BmwX5.thumbnail.png
diff --git a/docs/automobile/images/bmw/BmwX5Simple.png b/docs/automobile/images/bmw/BmwX5Simple.png
diff --git a/docs/automobile/images/bmw/BmwX5Simple.thumbnail.png b/docs/automobile/images/bmw/BmwX5Simple.thumbnail.png
diff --git a/docs/automobile/images/bmw/BmwX5Wheel.png b/docs/automobile/images/bmw/BmwX5Wheel.png
diff --git a/docs/automobile/images/bmw/BmwX5Wheel.thumbnail.png b/docs/automobile/images/bmw/BmwX5Wheel.thumbnail.png
diff --git a/docs/automobile/images/citroen/CitroenCZero.png b/docs/automobile/images/citroen/CitroenCZero.png
diff --git a/docs/automobile/images/citroen/CitroenCZero.thumbnail.png b/docs/automobile/images/citroen/CitroenCZero.thumbnail.png
diff --git a/docs/automobile/images/citroen/CitroenCZeroFrontWheel.png b/docs/automobile/images/citroen/CitroenCZeroFrontWheel.png
diff --git a/docs/automobile/images/citroen/CitroenCZeroFrontWheel.thumbnail.png b/docs/automobile/images/citroen/CitroenCZeroFrontWheel.thumbnail.png
diff --git a/docs/automobile/images/citroen/CitroenCZeroRearWheel.png b/docs/automobile/images/citroen/CitroenCZeroRearWheel.png
diff --git a/docs/automobile/images/citroen/CitroenCZeroRearWheel.thumbnail.png b/docs/automobile/images/citroen/CitroenCZeroRearWheel.thumbnail.png
diff --git a/docs/automobile/images/citroen/CitroenCZeroSimple.png b/docs/automobile/images/citroen/CitroenCZeroSimple.png
diff --git a/docs/automobile/images/citroen/CitroenCZeroSimple.thumbnail.png b/docs/automobile/images/citroen/CitroenCZeroSimple.thumbnail.png
diff --git a/docs/automobile/images/generic/Bus.png b/docs/automobile/images/generic/Bus.png
diff --git a/docs/automobile/images/generic/Bus.thumbnail.png b/docs/automobile/images/generic/Bus.thumbnail.png
diff --git a/docs/automobile/images/generic/BusSimple.png b/docs/automobile/images/generic/BusSimple.png
diff --git a/docs/automobile/images/generic/BusSimple.thumbnail.png b/docs/automobile/images/generic/BusSimple.thumbnail.png
diff --git a/docs/automobile/images/generic/BusWheel.png b/docs/automobile/images/generic/BusWheel.png
diff --git a/docs/automobile/images/generic/BusWheel.thumbnail.png b/docs/automobile/images/generic/BusWheel.thumbnail.png
diff --git a/docs/automobile/images/generic/MotorbikeDriver.png b/docs/automobile/images/generic/MotorbikeDriver.png
diff --git a/docs/automobile/images/generic/MotorbikeDriver.thumbnail.png b/docs/automobile/images/generic/MotorbikeDriver.thumbnail.png
diff --git a/docs/automobile/images/generic/MotorbikeSimple.png b/docs/automobile/images/generic/MotorbikeSimple.png
diff --git a/docs/automobile/images/generic/MotorbikeSimple.thumbnail.png b/docs/automobile/images/generic/MotorbikeSimple.thumbnail.png
diff --git a/docs/automobile/images/generic/MotorbikeWheel.png b/docs/automobile/images/generic/MotorbikeWheel.png
diff --git a/docs/automobile/images/generic/MotorbikeWheel.thumbnail.png b/docs/automobile/images/generic/MotorbikeWheel.thumbnail.png
diff --git a/docs/automobile/images/generic/ScooterDriver.png b/docs/automobile/images/generic/ScooterDriver.png
diff --git a/docs/automobile/images/generic/ScooterDriver.thumbnail.png b/docs/automobile/images/generic/ScooterDriver.thumbnail.png
diff --git a/docs/automobile/images/generic/ScooterSimple.png b/docs/automobile/images/generic/ScooterSimple.png
diff --git a/docs/automobile/images/generic/ScooterSimple.thumbnail.png b/docs/automobile/images/generic/ScooterSimple.thumbnail.png
diff --git a/docs/automobile/images/generic/ScooterWheel.png b/docs/automobile/images/generic/ScooterWheel.png
diff --git a/docs/automobile/images/generic/ScooterWheel.thumbnail.png b/docs/automobile/images/generic/ScooterWheel.thumbnail.png
diff --git a/docs/automobile/images/generic/Tractor.png b/docs/automobile/images/generic/Tractor.png
diff --git a/docs/automobile/images/generic/Tractor.thumbnail.png b/docs/automobile/images/generic/Tractor.thumbnail.png
diff --git a/docs/automobile/images/generic/TractorFrontWheel.png b/docs/automobile/images/generic/TractorFrontWheel.png
diff --git a/docs/automobile/images/generic/TractorFrontWheel.thumbnail.png b/docs/automobile/images/generic/TractorFrontWheel.thumbnail.png
diff --git a/docs/automobile/images/generic/TractorRearWheel.png b/docs/automobile/images/generic/TractorRearWheel.png
diff --git a/docs/automobile/images/generic/TractorRearWheel.thumbnail.png b/docs/automobile/images/generic/TractorRearWheel.thumbnail.png
diff --git a/docs/automobile/images/generic/Truck.png b/docs/automobile/images/generic/Truck.png
diff --git a/docs/automobile/images/generic/Truck.thumbnail.png b/docs/automobile/images/generic/Truck.thumbnail.png
diff --git a/docs/automobile/images/generic/TruckSimple.png b/docs/automobile/images/generic/TruckSimple.png
diff --git a/docs/automobile/images/generic/TruckSimple.thumbnail.png b/docs/automobile/images/generic/TruckSimple.thumbnail.png
diff --git a/docs/automobile/images/generic/TruckTank.png b/docs/automobile/images/generic/TruckTank.png
diff --git a/docs/automobile/images/generic/TruckTank.thumbnail.png b/docs/automobile/images/generic/TruckTank.thumbnail.png
diff --git a/docs/automobile/images/generic/TruckTankSimple.png b/docs/automobile/images/generic/TruckTankSimple.png
diff --git a/docs/automobile/images/generic/TruckTankSimple.thumbnail.png b/docs/automobile/images/generic/TruckTankSimple.thumbnail.png
diff --git a/docs/automobile/images/generic/TruckTrailer.png b/docs/automobile/images/generic/TruckTrailer.png
diff --git a/docs/automobile/images/generic/TruckTrailer.thumbnail.png b/docs/automobile/images/generic/TruckTrailer.thumbnail.png
diff --git a/docs/automobile/images/generic/TruckTrailerSimple.png b/docs/automobile/images/generic/TruckTrailerSimple.png
diff --git a/docs/automobile/images/generic/TruckTrailerSimple.thumbnail.png b/docs/automobile/images/generic/TruckTrailerSimple.thumbnail.png
diff --git a/docs/automobile/images/generic/TruckWheel.png b/docs/automobile/images/generic/TruckWheel.png
diff --git a/docs/automobile/images/generic/TruckWheel.thumbnail.png b/docs/automobile/images/generic/TruckWheel.thumbnail.png
diff --git a/docs/automobile/images/lincoln/LincolnMKZ.png b/docs/automobile/images/lincoln/LincolnMKZ.png
diff --git a/docs/automobile/images/lincoln/LincolnMKZ.thumbnail.png b/docs/automobile/images/lincoln/LincolnMKZ.thumbnail.png
diff --git a/docs/automobile/images/lincoln/LincolnMKZSimple.png b/docs/automobile/images/lincoln/LincolnMKZSimple.png
diff --git a/docs/automobile/images/lincoln/LincolnMKZSimple.thumbnail.png b/docs/automobile/images/lincoln/LincolnMKZSimple.thumbnail.png
diff --git a/docs/automobile/images/mercedes_benz/MercedesBenzSprinter.png b/docs/automobile/images/mercedes_benz/MercedesBenzSprinter.png
diff --git a/docs/automobile/images/mercedes_benz/MercedesBenzSprinter.thumbnail.png b/docs/automobile/images/mercedes_benz/MercedesBenzSprinter.thumbnail.png
diff --git a/docs/automobile/images/mercedes_benz/MercedesBenzSprinterSimple.png b/docs/automobile/images/mercedes_benz/MercedesBenzSprinterSimple.png
diff --git a/docs/automobile/images/mercedes_benz/MercedesBenzSprinterSimple.thumbnail.png b/docs/automobile/images/mercedes_benz/MercedesBenzSprinterSimple.thumbnail.png
diff --git a/docs/automobile/images/range_rover/RangeRoverSportSVR.png b/docs/automobile/images/range_rover/RangeRoverSportSVR.png
diff --git a/docs/automobile/images/range_rover/RangeRoverSportSVR.thumbnail.png b/docs/automobile/images/range_rover/RangeRoverSportSVR.thumbnail.png
diff --git a/docs/automobile/images/range_rover/RangeRoverSportSVRSimple.png b/docs/automobile/images/range_rover/RangeRoverSportSVRSimple.png
diff --git a/docs/automobile/images/range_rover/RangeRoverSportSVRSimple.thumbnail.png b/docs/automobile/images/range_rover/RangeRoverSportSVRSimple.thumbnail.png
diff --git a/docs/automobile/images/tesla/TeslaModel3.png b/docs/automobile/images/tesla/TeslaModel3.png
diff --git a/docs/automobile/images/tesla/TeslaModel3.thumbnail.png b/docs/automobile/images/tesla/TeslaModel3.thumbnail.png
diff --git a/docs/automobile/images/tesla/TeslaModel3Simple.png b/docs/automobile/images/tesla/TeslaModel3Simple.png
diff --git a/docs/automobile/images/tesla/TeslaModel3Simple.thumbnail.png b/docs/automobile/images/tesla/TeslaModel3Simple.thumbnail.png
diff --git a/docs/automobile/images/toyota/ToyotaPrius.png b/docs/automobile/images/toyota/ToyotaPrius.png
diff --git a/docs/automobile/images/toyota/ToyotaPrius.thumbnail.png b/docs/automobile/images/toyota/ToyotaPrius.thumbnail.png
diff --git a/docs/automobile/images/toyota/ToyotaPriusSimple.png b/docs/automobile/images/toyota/ToyotaPriusSimple.png
diff --git a/docs/automobile/images/toyota/ToyotaPriusSimple.thumbnail.png b/docs/automobile/images/toyota/ToyotaPriusSimple.thumbnail.png
diff --git a/docs/automobile/images/toyota/ToyotaPriusWheel.png b/docs/automobile/images/toyota/ToyotaPriusWheel.png
diff --git a/docs/automobile/images/toyota/ToyotaPriusWheel.thumbnail.png b/docs/automobile/images/toyota/ToyotaPriusWheel.thumbnail.png
diff --git a/docs/automobile/menu.md b/docs/automobile/menu.md
@@ -2,9 +2,17 @@
 
 - [Introduction](introduction.md)
 - [PROTO Nodes](proto-nodes.md)
-    - [VehicleWheel](vehiclewheel.md)
     - [AckermannVehicle](ackermannvehicle.md)
+    - [VehicleWheel](vehiclewheel.md)
     - [Car](car.md)
+    - [Bmw](vehicle-bmw.md)
+    - [Citroen](vehicle-citroen.md)
+    - [Generic](vehicle-generic.md)
+    - [Lincoln](vehicle-lincoln.md)
+    - [Mercedes Benz](vehicle-mercedes-benz.md)
+    - [Range Rover](vehicle-range-rover.md)
+    - [Tesla](vehicle-tesla.md)
+    - [Toyota](vehicle-toyota.md)
 - [Car and Driver Libraries](car-and-driver-libraries.md)
     - [Driver Library](driver-library.md)
     - [Car Library](car-library.md)

diff --git a/docs/automobile/proto-nodes.md b/docs/automobile/proto-nodes.md
@@ -4,6 +4,15 @@ This section presents the set of PROTO nodes developed specifically for automobi
 
 ## Sections
 
-- [VehicleWheel](vehiclewheel.md)
 - [AckermannVehicle](ackermannvehicle.md)
+- [VehicleWheel](vehiclewheel.md)
 - [Car](car.md)
+- [Bmw](vehicle-bmw.md)
+- [Citroen](vehicle-citroen.md)
+- [Generic](vehicle-generic.md)
+- [Lincoln](vehicle-lincoln.md)
+- [Mercedes Benz](vehicle-mercedes-benz.md)
+- [Range Rover](vehicle-range-rover.md)
+- [Tesla](vehicle-tesla.md)
+- [Toyota](vehicle-toyota.md)
+
diff --git a/docs/automobile/vehicle-bmw.md b/docs/automobile/vehicle-bmw.md
@@ -0,0 +1,175 @@
+# Bmw
+
+## BmwX5
+
+Model of an BMW X5 car using the [Car](car.md) PROTO as a base.
+The vehicle is modelled with realistic physics properties: motor torques, body mass, friction forces, suspensions, etc.
+This model was sponsored by the CTI project RO2IVSim ([http://transport.epfl.ch/simulator-for-mobile-robots-and-intelligent-vehicles](http://transport.epfl.ch/simulator-for-mobile-robots-and-intelligent-vehicles)).
+For the last 6 fields to have any effect, the 'interior' has to be enabled.
+
+%figure
+
+![BmwX5](images/bmw/BmwX5.thumbnail.png)
+
+%end
+
+Derived from [Robot](../reference/robot.md).
+
+```
+BmwX5 {
+  SFVec3f     translation              0 0 0.4
+  SFRotation  rotation                 0 0 1 0
+  SFColor     color                    0.43 0.11 0.1
+  SFString    engineSound              "sounds/engine.wav"
+  SFString    name                     "vehicle"
+  SFString    controller               "<generic>"
+  MFString    controllerArgs           []
+  SFBool      supervisor               FALSE
+  SFBool      synchronization          TRUE
+  SFBool      windshieldWipers         TRUE
+  SFBool      frontSpotLights          FALSE
+  SFBool      rearMirror               FALSE
+  SFBool      leftWingMirror           FALSE
+  SFBool      rightWingMirror          FALSE
+  SFFloat     mirrorFar                200.0
+  MFNode      sensorsSlotFront         []
+  MFNode      sensorsSlotRear          []
+  MFNode      sensorsSlotTop           []
+  MFNode      sensorsSlotCenter        []
+  SFBool      interior                 TRUE
+  SFBool      dynamicSpeedDisplay      TRUE
+  SFBool      indicatorLevers          TRUE
+  SFNode      steeringWheel            CarSteeringWheel {}
+  SFBool      completeInterior         TRUE
+  SFBool      shifter                  TRUE
+  SFFloat     outerWindowTransparency  0.4
+  SFFloat     innerWindowTransparency  0.7
+  SFBool      innerWindowDust          FALSE
+  SFString    window                   "automobile"
+}
+```
+
+> **File location**: "[WEBOTS\_HOME/projects/vehicles/protos/bmw/BmwX5.proto]({{ url.github_tree }}/projects/vehicles/protos/bmw/BmwX5.proto)"
+
+> **License**: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
+[More information.](https://cyberbotics.com/webots_assets_license)
+
+### BmwX5 Field Summary
+
+- `color`: Defines the car body color.
+
+- `windshieldWipers`: Defines whether the car should have windshiel wipers.
+
+- `frontSpotLights`: Defines whether the car should have front spot lights.
+
+- `rearMirror`: Defines whether the car should have a rear mirror.
+
+- `leftWingMirror`: Defines whether the car should have a left wing mirror.
+
+- `rightWingMirror`: Defines whether the car should have a right wing mirror.
+
+- `mirrorFar`: Defines the far clipping plane for the rear, left and right mirrors.
+
+- `sensorsSlotFront`: Extends the robot with new nodes on the front of the car.
+
+- `sensorsSlotRear`: Extends the robot with new nodes on the back of the car.
+
+- `sensorsSlotTop`: Extends the robot with new nodes on the roof of the car.
+
+- `sensorsSlotCenter`: Extends the robot with new nodes at the center of the car.
+
+- `interior`: Defines whether the car should have the interior walls and the dashboard.
+
+- `dynamicSpeedDisplay`: Defines whether the current speed can be displaed in the dashboard.
+
+- `indicatorLevers`: Defines whether the car has indicator levers.
+
+- `steeringWheel`: Defines the car steering wheel.
+
+- `completeInterior`: Defines whether the interior of the car should have seats, armrests, and handbrake.
+
+- `shifter`: Defines whether the interior of the car should have the gear shifter.
+
+- `outerWindowTransparency`: Defines the transparency level of the windows seen from outside.
+
+- `innerWindowTransparency`: Defines the transparency level of the windows seen from inside.
+
+- `innerWindowDust`: Defines whether there is dust on windows seen from inside.
+
+## BmwX5Simple
+
+Simple kinematic model of the BMW X5 to be moved with a Supervisor.
+This model was sponsored by the CTI project RO2IVSim ([http://transport.epfl.ch/simulator-for-mobile-robots-and-intelligent-vehicles](http://transport.epfl.ch/simulator-for-mobile-robots-and-intelligent-vehicles)).
+
+%figure
+
+![BmwX5Simple](images/bmw/BmwX5Simple.thumbnail.png)
+
+%end
+
+Derived from [Robot](../reference/robot.md).
+
+```
+BmwX5Simple {
+        SFVec3f    translation         0 0 0.4
+        SFRotation rotation            0 0 1 0
+        SFColor    color               0.43 0.11 0.1
+        MFColor    recognitionColors   [ 0.43 0.11 0.1 ]
+        SFString   name                "vehicle"
+        SFString   controller          "<none>"
+        MFString   controllerArgs      [ ]
+        SFString   window              "<none>"
+        MFNode     sensorsSlotFront    [ ]
+        MFNode     sensorsSlotRear     [ ]
+        MFNode     sensorsSlotTop      [ ]
+        MFNode     sensorsSlotCenter   [ ]
+        SFBool     wheelBoundingObject FALSE
+}
+```
+
+> **File location**: "[WEBOTS\_HOME/projects/vehicles/protos/bmw/BmwX5Simple.proto]({{ url.github_tree }}/projects/vehicles/protos/bmw/BmwX5Simple.proto)"
+
+> **License**: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
+[More information.](https://cyberbotics.com/webots_assets_license)
+
+### BmwX5Simple Field Summary
+
+- `color`: Defines the car body color.
+
+- `sensorsSlotFront`: Extends the robot with new nodes on the front of the car.
+
+- `sensorsSlotRear`: Extends the robot with new nodes on the back of the car.
+
+- `sensorsSlotTop`: Extends the robot with new nodes on the roof of the car.
+
+- `sensorsSlotCenter`: Extends the robot with new nodes at the center of the car.
+
+- `wheelBoundingObject`: Defines whether the wheels should have a bounding object.
+
+## BmwX5Wheel
+
+Model of the BMW X5 wheels using the generic [VehicleWheel](vehiclewheel.md) PROTO including physic properties and baseColorMaps.
+This model was sponsored by the CTI project RO2IVSim ([http://transport.epfl.ch/simulator-for-mobile-robots-and-intelligent-vehicles](http://transport.epfl.ch/simulator-for-mobile-robots-and-intelligent-vehicles)).
+
+%figure
+
+![BmwX5Wheel](images/bmw/BmwX5Wheel.thumbnail.png)
+
+%end
+
+Derived from [Slot](../reference/slot.md).
+
+```
+BmwX5Wheel {
+  SFString name           "BMW X5 wheel"
+  SFNode   physics        NULL
+  SFBool   boundingObject TRUE
+  SFBool   wheelSide      FALSE
+}
+```
+
+> **File location**: "[WEBOTS\_HOME/projects/vehicles/protos/bmw/BmwX5Wheel.proto]({{ url.github_tree }}/projects/vehicles/protos/bmw/BmwX5Wheel.proto)"
+
+> **License**: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
+[More information.](https://cyberbotics.com/webots_assets_license)
+