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Merge develop in feature-web-proto #5637

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merged 6 commits into from
Dec 7, 2022
Merged

Merge develop in feature-web-proto #5637

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6e0304d
Removed useless Python installations on macOS (#5616)
omichel Dec 5, 2022
7094276
Improved the bounding boxes of the nao to make them not collide (#5622)
Jean-Eudes-le-retour Dec 5, 2022
306912b
Merge pull request #5630 from cyberbotics/sync-master-6e0304d1c
Dec 6, 2022
d02be09
Cleanup webotsJs import (#5632)
Dec 6, 2022
675eb3a
Merge pull request #5636 from cyberbotics/sync-master-d02be09b7
Dec 7, 2022
1388cf2
fix conflicts
Dec 7, 2022
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25 changes: 4 additions & 21 deletions .github/workflows/test_suite_mac.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -42,32 +42,15 @@ jobs:
fetch-depth: 15
- name: Install Webots Compilation Dependencies
run: |
# swig wget cmake [email protected] [email protected] and [email protected] are already installed
if HOMEBREW_NO_INSTALL_CLEANUP=1 brew install [email protected]; then
echo "Installation of Python3.7 successful"
else
echo "Installation of Python3.7 failed"
fi
# swig wget and cmake are already installed
npm install -g appdmg
# install regular Python 3.7
wget -qq https://www.python.org/ftp/python/3.7.9/python-3.7.9-macosx10.9.pkg
sudo installer -pkg python-3.7.9-macosx10.9.pkg -target /
# install regular Python 3.8
wget -qq https://www.python.org/ftp/python/3.8.10/python-3.8.10-macos11.pkg
sudo installer -pkg python-3.8.10-macos11.pkg -target /
# install regular Python 3.9
wget -qq https://www.python.org/ftp/python/3.9.13/python-3.9.13-macos11.pkg
sudo installer -pkg python-3.9.13-macos11.pkg -target /
# install regular Python 3.10
wget -qq https://www.python.org/ftp/python/3.10.5/python-3.10.5-macos11.pkg
sudo installer -pkg python-3.10.5-macos11.pkg -target /
- name: Set Commit SHA in Version
if: ${{ github.event_name == 'schedule' }}
run: python scripts/packaging/set_commit_and_date_in_version.py $(git log -1 --format='%H')
- name: Webots Package Creation
run: |
export JAVA_HOME="$(/usr/libexec/java_home -v 16)"
export PATH=/Library/Frameworks/Python.framework/Versions/3.10/bin:/Library/Frameworks/Python.framework/Versions/3.9/bin:/Library/Frameworks/Python.framework/Versions/3.8/bin:/Library/Frameworks/Python.framework/Versions/3.7/bin:/usr/local/bin/:$PATH
export PATH=/Library/Frameworks/Python.framework/Versions/3.11/bin:/usr/local/bin/:$PATH
make distrib -j4
- name: Prepare Webots Controller Deployment
if: ${{ github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'deploy libcontroller') }}
Expand Down Expand Up @@ -107,10 +90,10 @@ jobs:
hdiutil mount artifact/webots-*.dmg
sudo cp -R /Volumes/Webots/Webots.app /Applications
hdiutil unmount /Volumes/Webots
- name: Set up Python 3.9
- name: Set up Python 3.11
uses: actions/setup-python@v2
with:
python-version: 3.9
python-version: 3.11
- name: Test
run:
export WEBOTS_DISABLE_SAVE_SCREEN_PERSPECTIVE_ON_CLOSE=true
Expand Down
25 changes: 4 additions & 21 deletions .github/workflows/test_suite_mac_develop.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -38,32 +38,15 @@ jobs:
ref: develop
- name: Install Webots Compilation Dependencies
run: |
# swig wget cmake [email protected] [email protected] and [email protected] are already installed
if HOMEBREW_NO_INSTALL_CLEANUP=1 brew install [email protected]; then
echo "Installation of Python3.7 successful"
else
echo "Installation of Python3.7 failed"
fi
# swig wget and cmake are already installed
npm install -g appdmg
# install regular Python 3.7
wget -qq https://www.python.org/ftp/python/3.7.9/python-3.7.9-macosx10.9.pkg
sudo installer -pkg python-3.7.9-macosx10.9.pkg -target /
# install regular Python 3.8
wget -qq https://www.python.org/ftp/python/3.8.10/python-3.8.10-macos11.pkg
sudo installer -pkg python-3.8.10-macos11.pkg -target /
# install regular Python 3.9
wget -qq https://www.python.org/ftp/python/3.9.13/python-3.9.13-macos11.pkg
sudo installer -pkg python-3.9.13-macos11.pkg -target /
# install regular Python 3.10
wget -qq https://www.python.org/ftp/python/3.10.5/python-3.10.5-macos11.pkg
sudo installer -pkg python-3.10.5-macos11.pkg -target /
- name: Set Commit SHA in Version
if: ${{ github.event_name == 'schedule' }}
run: python scripts/packaging/set_commit_and_date_in_version.py $(git log -1 --format='%H')
- name: Webots Package Creation
run: |
export JAVA_HOME="$(/usr/libexec/java_home -v 16)"
export PATH=/Library/Frameworks/Python.framework/Versions/3.10/bin:/Library/Frameworks/Python.framework/Versions/3.9/bin:/Library/Frameworks/Python.framework/Versions/3.8/bin:/Library/Frameworks/Python.framework/Versions/3.7/bin:/usr/local/bin/:$PATH
export PATH=/Library/Frameworks/Python.framework/Versions/3.11/bin:/usr/local/bin/:$PATH
make distrib -j4
- name: Prepare Webots Controller Deployment
if: ${{ github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'deploy libcontroller') }}
Expand Down Expand Up @@ -105,10 +88,10 @@ jobs:
hdiutil mount artifact/webots-*.dmg
sudo cp -R /Volumes/Webots/Webots.app /Applications
hdiutil unmount /Volumes/Webots
- name: Set up Python 3.9
- name: Set up Python 3.11
uses: actions/setup-python@v2
with:
python-version: 3.9
python-version: 3.11
- name: Test
run:
export WEBOTS_DISABLE_SAVE_SCREEN_PERSPECTIVE_ON_CLOSE=true
Expand Down
1 change: 1 addition & 0 deletions docs/reference/changelog-r2023.md
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@ Released on ??
- Greatly improved the performance of the Python API `Camera.getImage` method ([#5610](https://github.com/cyberbotics/webots/pull/5610)).
- Added default [Solid](solid.md).`recognitionColors` value for [animals](../guide/object-animals.md) and [Barn](../guide/object-buildings.md#barn) PROTO models ([#5606](https://github.com/cyberbotics/webots/pull/5606)).
- Added `recognitionColors` field to [SolidBox](../guide/object-solids.md#solidbox) and Tractor PROTO models ([#5606](https://github.com/cyberbotics/webots/pull/5606)).
- Improved the bounding objects of the Nao robot PROTO so that `selfCollision` can be activated without any issue ([#5622](https://github.com/cyberbotics/webots/pull/5622)).
- Bug Fixes
- Fixed Python API `Supervisor.setSimulationMode` which was failing ([#5603](https://github.com/cyberbotics/webots/pull/5603)).
- Fixed crash resulting from requesting pose tracking of unsuitable nodes ([5620](https://github.com/cyberbotics/webots/pull/5620)).
Expand Down
172 changes: 138 additions & 34 deletions projects/robots/softbank/nao/protos/Nao.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,7 @@ PROTO Nao [
field MFNode leftFootSlot [] # Extends the robot with new nodes in the left foot slot.
field MFNode rightFootSlot [] # Extends the robot with new nodes in the right foot slot.
field MFNode leftHandSlot [] # Extends the robot with new nodes in the left hand slot.
field MFNode rightHandSlot [] # Extends the robot with new nodes in the righthand slot.
field MFNode rightHandSlot [] # Extends the robot with new nodes in the right hand slot.
]
{
%<
Expand Down Expand Up @@ -2108,12 +2108,12 @@ PROTO Nao [
name "RShoulder"
contactMaterial IS contactMaterial
boundingObject Transform {
translation 0.029 -0.005 0
translation 0.027 -0.005 0
rotation 0.623805 0.552662 -0.552660 -2.026117
children [
DEF SHOULDER_BO Capsule {
height 0.1
radius 0.026
height 0.09
radius 0.024
}
]
}
Expand Down Expand Up @@ -2648,7 +2648,7 @@ PROTO Nao [
name "LShoulder"
contactMaterial IS contactMaterial
boundingObject Transform {
translation 0.029 0.005 0
translation 0.027 0.005 0
rotation 0.623805 -0.552662 0.552660 -2.026117
children [
USE SHOULDER_BO
Expand Down Expand Up @@ -4148,11 +4148,35 @@ PROTO Nao [
}
]
contactMaterial IS footContactMaterial
boundingObject Transform {
translation 0.02 -0.007 -0.025
boundingObject Group {
children [
DEF FOOT_BO Box {
size 0.148 0.09 0.02
Transform {
translation 0.015 -0.007 -0.033
children [
DEF SOLE Box {
size 0.11 0.085 0.004
}
]
}
DEF HEEL Transform {
translation -0.048 0 -0.0245
rotation 1 0 0 -1.57
children [
Capsule {
height 0.03
radius 0.008
subdivision 16
}
]
}
Transform {
translation 0.065 -0.005 -0.027
rotation 0 1 0 0
children [
DEF TOES Box {
size 0.04 0.085 0.016
}
]
}
]
}
Expand Down Expand Up @@ -4188,8 +4212,8 @@ PROTO Nao [
}
]
contactMaterial IS contactMaterial
boundingObject DEF ANKLE_PITCH_BO Box {
size 0.078 0.027 0.05
boundingObject DEF ANKLE_PITCH_BO Sphere {
radius 0.005
}
physics Physics {
density -1
Expand Down Expand Up @@ -4223,12 +4247,27 @@ PROTO Nao [
}
]
contactMaterial IS contactMaterial
boundingObject DEF TIBIA_BO Transform {
translation 0.01 0 -0.055
rotation 0 1 0 0.2
boundingObject Group {
children [
Box {
size 0.06 0.08 0.11
DEF TIBIA_HIGH Transform {
translation 0.01 0 -0.033
rotation 0 1 0 0.462
children [
Box {
size 0.04 0.08 0.07
}
]
}
Transform {
translation 0 -0.003 -0.09
rotation -1 0 0 -1.57
children [
DEF TIBIA_LOW Capsule {
height 0.018
radius 0.035
subdivision 16
}
]
}
]
}
Expand Down Expand Up @@ -4264,12 +4303,29 @@ PROTO Nao [
}
]
contactMaterial IS contactMaterial
boundingObject DEF FEMUR_BO Transform {
translation 0 0 -0.055
rotation 0 1 0 5.9
boundingObject DEF FEMUR_BO Group {
children [
Box {
size 0.06 0.08 0.13
Transform {
translation -0.009 0 -0.015
rotation 0.7745972141192264 -0.44721312362157567 0.44721312362157567 1.82348
children [
Capsule {
height 0.01
radius 0.03
subdivision 16
}
]
}
Transform {
translation 0.008 0 -0.0662612
rotation 0 1 0 5.9
children [
Cylinder {
height 0.1
radius 0.035
subdivision 16
}
]
}
]
}
Expand Down Expand Up @@ -4305,11 +4361,23 @@ PROTO Nao [
}
]
contactMaterial IS contactMaterial
boundingObject DEF HIP_ROLL_BO Transform {
translation -0.022 0 0
boundingObject DEF HIP_ROLL_BO Group {
children [
Box {
size 0.08 0.05 0.05
Transform {
translation -0.017 0 0.004
children [
Box {
size 0.025 0.025 0.074
}
]
}
Transform {
translation -0.018 0 0
children [
Box {
size 0.08 0.025 0.025
}
]
}
]
}
Expand Down Expand Up @@ -5599,10 +5667,22 @@ PROTO Nao [
}
]
contactMaterial IS footContactMaterial
boundingObject Transform {
translation 0.02 0.007 -0.025
boundingObject Group {
children [
USE FOOT_BO
Transform {
translation 0.015 0.007 -0.033
children [
USE SOLE
]
}
USE HEEL
Transform {
translation 0.065 0.005 -0.027
rotation 0 1 0 0
children [
USE TOES
]
}
]
}
physics Physics {
Expand Down Expand Up @@ -5670,7 +5750,18 @@ PROTO Nao [
}
]
contactMaterial IS contactMaterial
boundingObject USE TIBIA_BO
boundingObject Group {
children [
USE TIBIA_HIGH
Transform {
translation 0 0.003 -0.09
rotation -1 0 0 -1.57
children [
USE TIBIA_LOW
]
}
]
}
physics Physics {
density -1
%< if (version === 3.3) { >%
Expand Down Expand Up @@ -5820,12 +5911,25 @@ PROTO Nao [
]
}
]
boundingObject Transform {
translation 0 0 0.02
boundingObject Group {
children [
Capsule {
height 0.11
radius 0.055
Transform {
translation 0 0 -0.02
children [
Sphere {
radius 0.037
}
]
}
Transform {
translation 0 0 0.055
children [
Capsule {
height 0.03
radius 0.055
subdivision 16
}
]
}
]
}
Expand Down
6 changes: 3 additions & 3 deletions projects/robots/softbank/nao/protos/NaoLeftWristH21.proto
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Expand Up @@ -592,12 +592,12 @@ Solid {
boundingObject Group {
children [
Transform {
translation 0.03 0.003 0.005
translation 0.05 -0.001 0
rotation -0.527663 0.600656 -0.600654 2.170531
children [
DEF WHIRST_BO Capsule {
DEF WRIST_BO Capsule {
height 0.025
radius 0.022
radius 0.021
}
]
}
Expand Down
6 changes: 3 additions & 3 deletions projects/robots/softbank/nao/protos/NaoLeftWristH25Realistic.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -828,11 +828,11 @@ Solid {
model "Nao left wrist H25"
contactMaterial IS contactMaterial
boundingObject Transform {
translation 0.03 0.003 0.005
translation 0.045 0.001 0
rotation -0.527663 0.600656 -0.600654 2.170531
children [
DEF WHIRST_BO Capsule {
height 0.025
DEF WRIST_BO Capsule {
height 0.02
radius 0.022
}
]
Expand Down
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