cyberbotics · BenjaminDeleze · Feb 7, 2023 · Sep 27, 2022 · Sep 28, 2022 · Sep 30, 2022
@@ -17,6 +17,7 @@
     "Enum": false,
     "document": false,
     "glm": false,
+    "libtess": false,
     "Module": false,
     "navigator": false,
     "Quaternion": false,

@@ -12,7 +12,7 @@ Here we are going to present some of the main new features, but for a comprehens
 
 ## New Robot
 
-A new robot model has been added to the Webots library. 
+A new robot model has been added to the Webots library.
 The ROS-based four-wheeled [ROSbot](../guide/rosbot.md) robot from [Husarion](https://husarion.com/) is now included in Webots.
 
 %figure "ROSbot"
@@ -46,10 +46,10 @@ Additional models have been added to the Webots library, namely static animals (
 ## New Python API
 
 Webots R2023a comes with a brand new Python API!
-This API has the advantage of being compatible with all Python distributions (including conda, anaconda, etc.). 
+This API has the advantage of being compatible with all Python distributions (including conda, anaconda, etc.).
 The API will always be compatible with current and upcoming Python versions.
 
-This change of API does not induce any change to the methods. 
+This change of API does not induce any change to the methods.
 Python controllers developed before Webots R2023a are fully compatible with this new version.
 
 Moreover, in order to enrich the collection of sample controllers, all sample worlds of the device nodes provide an additional Python controller equivalent to the C controller already included to demonstrate the usage of the API functions.
@@ -58,9 +58,9 @@ Moreover, in order to enrich the collection of sample controllers, all sample wo
 
 ## New IMU Sample World
 
-So far, the [InertialUnit](../reference/inertialunit.md) was considered as an IMU, because it provides the ground truth data of the attitude (roll, pitch, yaw) of the object on which it is inserted. 
+So far, the [InertialUnit](../reference/inertialunit.md) was considered as an IMU, because it provides the ground truth data of the attitude (roll, pitch, yaw) of the object on which it is inserted.
 This assumption is fundamentally wrong.
-An IMU gives the raw values of its sensors ([Accelerometer](../reference/accelerometer.md), [Gyroscope](../reference/gyro.md), [Compass](../reference/compass.md)) and can optionally provide the attitude output computed from the fusion of its sensors. 
+An IMU gives the raw values of its sensors ([Accelerometer](../reference/accelerometer.md), [Gyroscope](../reference/gyro.md), [Compass](../reference/compass.md)) and can optionally provide the attitude output computed from the fusion of its sensors.
 The [InertialUnit](../reference/inertialunit.md) just makes life easier for the user who does not want to use a sensor fusion library or algorithm to combine the data from an IMU and compute the attitude.
 
 In addition to the implementation of the [Mpu-9250](../guide/imu-sensors.md#mpu-9250) IMU, Webots R2023a contains a new sample world that demonstrates a simple algorithm for calculating the attitude of a robot from the sensors of an IMU.

@@ -0,0 +1 @@
+publish: true
@@ -1,6 +1,5 @@
 # Blender v2.76 (sub 0) OBJ File: ''
 # www.blender.org
-mtllib suzanne.mtl
 o Suzanne
 v 0.155960 0.998384 0.786757
 v -0.719040 0.998384 0.786757

@@ -0,0 +1 @@
+publish: true
@@ -1,6 +1,5 @@
 # Blender v3.0.1 OBJ File: ''
 # www.blender.org
-mtllib geom.mtl
 o geom.002
 v 0.163138 -0.011148 -0.000010
 v 0.102858 -0.052136 0.062664

@@ -1,6 +1,5 @@
 # Blender v2.93.4 OBJ File: ''
 # www.blender.org
-mtllib beak.mtl
 o beak
 v 0.004683 0.007117 0.007262
 v 0.004502 0.008069 0.006527

@@ -1,6 +1,5 @@
 # Blender v2.93.4 OBJ File: ''
 # www.blender.org
-mtllib body.mtl
 o geom.003
 v -0.031698 0.024886 0.007545
 v -0.030520 0.025896 0.007273

@@ -1,7 +1,7 @@
 #VRML_SIM R2023b utf8
 # license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
 # license url: https://cyberbotics.com/webots_assets_license
-# documentation url: https://www.cyberbotics.com/doc/guide/portal
+# documentation url: https://webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/released/projects/robots/a4/portal/protos/Portal.proto
 # Portal PICAXE-28X2 (A4 TECHNOLOGIE)
 # This small portal model is used for education with PICAXE programming tools
 
@@ -314,7 +314,7 @@ PROTO Portal [
           }
           DEF GEAR_JOINT HingeJoint {
             jointParameters HingeJointParameters {
-              position 0.12
+              position 1.2
               axis 0 0 1
               anchor -0.0058 0.057 0.012
             }

@@ -0,0 +1,36 @@
+The [A4 Portal](http://www.a4.fr/automatisme-et-robotique/maquettes-automatisees/portail-coulissant-automatise.html) is a sliding portal designed for teaching automatized systems.
+It uses the PICAXE programming kit.
+
+### Movie Presentation
+
+![youtube video](https://www.youtube.com/watch?v=vBS7t1eQINs)
+
+### Portal PROTO
+
+Derived from [Robot](https://cyberbotics.com/doc/reference/robot).
+
+```
+Portal {
+  SFVec3f    translation     0 0 0
+  SFRotation rotation        0 0 1 0
+  SFString   name            "Portal"
+  SFString   controller      "<generic>"
+  MFString   controllerArgs  []
+  SFString   customData      ""
+  SFBool     supervisor      FALSE
+  SFBool     synchronization TRUE
+  MFNode     extensionSlot   []
+}
+```
+
+#### Portal Field Summary
+
+- `extensionSlot`: Extends the robot with new nodes in the extension slot.
+
+### Samples
+
+You will find the following sample in this folder: "WEBOTS\_HOME/projects/robots/a4/portal/worlds".
+
+#### portal\_pe.wbt
+
+![portal_pe.wbt.png](images/portal/portal_pe.wbt.thumbnail.jpg) This simulation shows the portal model.
@@ -0,0 +1 @@
+publish: true
@@ -1,6 +1,5 @@
 # Blender v3.0.1 OBJ File: 'arm.blend'
 # www.blender.org
-mtllib arm.mtl
 o base_arm
 v -0.001993 -0.033253 -0.040427
 v 0.001744 -0.033264 -0.040427

@@ -1,6 +1,5 @@
 # Blender v3.0.1 OBJ File: 'arm.blend'
 # www.blender.org
-mtllib arm_nuts.mtl
 o base_arm.001
 v 0.087507 0.008556 0.184061
 v 0.086760 0.014206 0.184061

@@ -1,6 +1,5 @@
 # Blender v3.0.1 OBJ File: 'base.blend'
 # www.blender.org
-mtllib base.mtl
 o base
 v 0.061051 -0.041839 0.214405
 v 0.059250 0.041883 0.214405

@@ -1,6 +1,5 @@
 # Blender v3.0.1 OBJ File: 'base_arm.blend'
 # www.blender.org
-mtllib base_arm.mtl
 o arm
 v 0.079153 -0.006615 -0.007184
 v 0.079265 -0.006594 -0.007207

@@ -1,6 +1,5 @@
 # Blender v3.1.2 OBJ File: ''
 # www.blender.org
-mtllib bulb.mtl
 o base.001
 v 0.000685 -0.000040 0.006999
 v 0.000580 0.000844 0.007011

@@ -1,6 +1,5 @@
 # Blender v3.0.1 OBJ File: 'base.blend'
 # www.blender.org
-mtllib bulb_socket.mtl
 o base.002
 v 0.022536 0.042318 0.445647
 v 0.023492 0.040908 0.445647

@@ -1,6 +1,5 @@
 # Blender v3.0.1 OBJ File: 'arm.blend'
 # www.blender.org
-mtllib button.mtl
 o base_arm.005
 v 0.068342 0.009522 0.187771
 v 0.068871 -0.001901 0.187771

@@ -1,6 +1,5 @@
 # Blender v3.0.1 OBJ File: 'arm.blend'
 # www.blender.org
-mtllib button_socket.mtl
 o base_arm.004
 v 0.069843 0.009338 0.184442
 v 0.071363 0.008707 0.184442

@@ -1,6 +1,5 @@
 # Blender v3.0.1 OBJ File: 'cable.blend'
 # www.blender.org
-mtllib cable.mtl
 o cable
 v 0.000949 0.017574 0.000000
 v -0.000053 -0.017600 -0.000000

@@ -1,6 +1,5 @@
 # Blender v3.0.1 OBJ File: 'bulb.blend'
 # www.blender.org
-mtllib connector.mtl
 o base.003
 v -0.101400 0.036130 0.196750
 v -0.101400 0.036643 0.196279

@@ -1,6 +1,5 @@
 # Blender v3.0.1 OBJ File: 'bulb.blend'
 # www.blender.org
-mtllib main_connector.mtl
 o main_connecter_base.005
 v -0.099116 0.004754 0.089193
 v -0.099116 0.000835 0.090082

@@ -1,6 +1,5 @@
 # Blender v3.0.1 OBJ File: 'bulb.blend'
 # www.blender.org
-mtllib nuts.mtl
 o base.004
 v -0.094266 0.032801 0.075638
 v -0.094266 0.038500 0.075121

@@ -1,6 +1,5 @@
 # Blender v3.0.1 OBJ File: 'shaft.blend'
 # www.blender.org
-mtllib shaft.mtl
 o shaft
 v 0.014224 0.010178 -0.395961
 v 0.013537 0.010178 -0.397321

@@ -1,6 +1,5 @@
 # Blender v2.93.1 OBJ File: 'base_link_6.blend'
 # www.blender.org
-mtllib base_extension_plate.mtl
 o base_extension_plate.001
 v 0.056096 -0.197894 -0.014000
 v 0.054270 -0.198223 -0.014000

@@ -1,6 +1,5 @@
 # Blender v2.93.1 OBJ File: 'base_link_6.blend'
 # www.blender.org
-mtllib base_ir_metal_ring_cover.mtl
 o base_ir_metal_ring_cover
 v 0.006265 -0.204904 0.043000
 v 0.012554 -0.223548 0.043000

@@ -1,6 +1,5 @@
 # Blender v2.93.1 OBJ File: 'base_link_6.blend'
 # www.blender.org
-mtllib cap_1.mtl
 o cap_1
 v 0.062336 -0.064620 0.155000
 v 0.062332 -0.064607 0.156447

@@ -1,6 +1,5 @@
 # Blender v2.93.1 OBJ File: 'base_link_6.blend'
 # www.blender.org
-mtllib head_bottom_support.mtl
 o head_bottom_support
 v 0.123552 0.012151 0.158000
 v 0.133596 0.013923 0.158000

@@ -1,6 +1,5 @@
 # Blender v2.93.1 OBJ File: 'base_link_6.blend'
 # www.blender.org
-mtllib head_extension_plate.mtl
 o head_extension_plate
 v -0.036749 -0.006217 0.245000
 v -0.035883 -0.006717 0.156500

@@ -1,6 +1,5 @@
 # Blender v2.93.1 OBJ File: 'base_link_6.blend'
 # www.blender.org
-mtllib head_festo_logo.mtl
 o head_festo_logo
 v -0.111436 0.037099 0.243884
 v -0.111503 0.037067 0.241902

@@ -1,6 +1,5 @@
 # Blender v2.93.1 OBJ File: 'base_link_6.blend'
 # www.blender.org
-mtllib head_left_metal_cover.mtl
 o head_left_metal_cover
 v 0.121671 0.010754 0.230983
 v 0.135837 0.013251 0.238463

@@ -1,6 +1,5 @@
 # Blender v2.93.1 OBJ File: 'base_link_6.blend'
 # www.blender.org
-mtllib head_right_metal_cover.mtl
 o head_right_metal_cover
 v -0.164123 0.018747 0.201700
 v -0.143169 0.015565 0.237437

@@ -1,6 +1,5 @@
 # Blender v2.93.1 OBJ File: 'base_link_6.blend'
 # www.blender.org
-mtllib head_vga_port.mtl
 o head_vga_port
 v -0.194342 0.019444 0.216489
 v -0.192955 0.019183 0.217459

@@ -1,6 +1,5 @@
 # Blender v2.93.1 OBJ File: 'base_link_6.blend'
 # www.blender.org
-mtllib side_sep.mtl
 o side_sep
 v -0.188893 0.046164 -0.013937
 v -0.188387 0.045838 -0.015012

@@ -13,7 +13,7 @@ PROTO Panda [
   field  SFString    name               "panda"       # Is `Solid.name`.
   field  SFString    controller         "<generic>"   # Is `Robot.controller`.
   field  MFString    controllerArgs     []            # Is `Robot.controllerArgs`.
-  field SFString     window             "<generic>"   # Is `Robot.window`.
+  field  SFString    window             "<generic>"   # Is `Robot.window`.
   field  SFString    customData         ""            # Is `Robot.customData`.
   field  SFBool      supervisor         FALSE         # Is `Robot.supervisor`.
   field  SFBool      synchronization    TRUE          # Is `Robot.synchronization`.

@@ -1,6 +1,5 @@
 # Blender v2.92.0 OBJ File: ''
 # www.blender.org
-mtllib untitled.mtl
 o Mir100_Top_Unnamed-MiR100.006
 v 0.376729 -0.271877 0.213995
 v 0.376451 -0.270214 0.307778

@@ -1,6 +1,5 @@
 # Blender v2.92.0 OBJ File: ''
 # www.blender.org
-mtllib mir_100_inside.mtl
 o Mir100_Base.022_Mir_100_Base.002
 v -0.068416 -0.154031 0.095233
 v -0.068636 -0.164854 0.096523

@@ -0,0 +1 @@
+publish: true
@@ -0,0 +1 @@
+publish: true
@@ -1,5 +1,7 @@
 #VRML_SIM R2023b utf8
-# documentation url: https://www.cyberbotics.com/doc/guide/nao
+# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
+# license url: https://cyberbotics.com/webots_assets_license
+# documentation url: https://webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/released/projects/robots/softbank/nao/protos/Nao.proto
 # Generic model of Nao robot
 # Model designed by Cyberbotics Ltd. according to the online documentation provided by Aldebaran Robotics.
 # template language: javascript