Merge develop into feature web proto

.github/workflows/test_suite_linux.yml

@@ -68,14 +68,6 @@ jobs:
         export LIBGL_ALWAYS_SOFTWARE=true
         export ROS_DISTRO=${{ matrix.ROS_DISTRO }}
         xvfb-run --auto-servernum make distrib -j4
-    - name: Prepare Webots Controller Deployment
-      if: ${{ (github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'deploy libcontroller')) && matrix.os == 'ubuntu-20.04' }}
-      uses: webfactory/[email protected]
-      with:
-        ssh-private-key: ${{ secrets.WEBOTS_CONTROLLER_DEPLOY_KEY }}
-    - name: Deploy Webots Controller
-      if: ${{ (github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'deploy libcontroller')) && matrix.os == 'ubuntu-20.04' }}
-      run: scripts/packaging/sync_controller_lib.sh
     - name: Create/Update GitHub release
       if: ${{ matrix.os == 'ubuntu-20.04' && (github.event_name == 'push' || github.event_name == 'schedule') }}
       run: |

.github/workflows/test_suite_linux_develop.yml

@@ -64,14 +64,6 @@ jobs:
         export LIBGL_ALWAYS_SOFTWARE=true
         export ROS_DISTRO=${{ matrix.ROS_DISTRO }}
         xvfb-run --auto-servernum make distrib -j4
-    - name: Prepare Webots Controller Deployment
-      if: ${{ (github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'deploy libcontroller')) && matrix.os == 'ubuntu-20.04' }}
-      uses: webfactory/[email protected]
-      with:
-        ssh-private-key: ${{ secrets.WEBOTS_CONTROLLER_DEPLOY_KEY }}
-    - name: Deploy Webots Controller
-      if: ${{ (github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'deploy libcontroller')) && matrix.os == 'ubuntu-20.04' }}
-      run: scripts/packaging/sync_controller_lib.sh
     - name: Create/Update GitHub release
       if: ${{ matrix.os == 'ubuntu-20.04' && (github.event_name == 'push' || github.event_name == 'schedule') }}
       run: |

.github/workflows/test_suite_mac.yml

@@ -52,14 +52,6 @@ jobs:
         export JAVA_HOME="$(/usr/libexec/java_home -v 16)"
         export PATH=/Library/Frameworks/Python.framework/Versions/3.11/bin:/usr/local/bin/:$PATH
         make distrib -j4
-    - name: Prepare Webots Controller Deployment
-      if: ${{ github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'deploy libcontroller') }}
-      uses: webfactory/[email protected]
-      with:
-        ssh-private-key: ${{ secrets.WEBOTS_CONTROLLER_DEPLOY_KEY }}
-    - name: Deploy Webots Controller
-      if: ${{ github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'deploy libcontroller') }}
-      run: scripts/packaging/sync_controller_lib.sh
     - name: Create/Update GitHub release
       if: ${{ (github.event_name == 'push' || github.event_name == 'schedule') }}
       run: |

.github/workflows/test_suite_mac_develop.yml

@@ -48,14 +48,6 @@ jobs:
         export JAVA_HOME="$(/usr/libexec/java_home -v 16)"
         export PATH=/Library/Frameworks/Python.framework/Versions/3.11/bin:/usr/local/bin/:$PATH
         make distrib -j4
-    - name: Prepare Webots Controller Deployment
-      if: ${{ github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'deploy libcontroller') }}
-      uses: webfactory/[email protected]
-      with:
-        ssh-private-key: ${{ secrets.WEBOTS_CONTROLLER_DEPLOY_KEY }}
-    - name: Deploy Webots Controller
-      if: ${{ github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'deploy libcontroller') }}
-      run: scripts/packaging/sync_controller_lib.sh
     - name: Create/Update GitHub release
       if: ${{ (github.event_name == 'push' || github.event_name == 'schedule') }}
       run: |

.github/workflows/test_suite_windows.yml

@@ -82,15 +82,6 @@ jobs:
       run: |
         export WEBOTS_HOME=$GITHUB_WORKSPACE
         make distrib -j4
-    - name: Deploy Webots Controller
-      if: ${{ github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'deploy libcontroller') }}
-      run: |
-        export SSH_AUTH_SOCK=/tmp/ssh_agent.sock
-        mkdir ~/.ssh
-        ssh-keyscan -H github.com > ~/.ssh/known_hosts
-        ssh-agent -a $SSH_AUTH_SOCK > /dev/null
-        ssh-add - <<< "${{ secrets.WEBOTS_CONTROLLER_DEPLOY_KEY }}"
-        scripts/packaging/sync_controller_lib.sh
     - name: Create/Update GitHub release
       if: ${{ (github.event_name == 'push' || github.event_name == 'schedule') }}
       run: |

.github/workflows/test_suite_windows_develop.yml

@@ -78,15 +78,6 @@ jobs:
       run: |
         export WEBOTS_HOME=$GITHUB_WORKSPACE
         make distrib -j4
-    - name: Deploy Webots Controller
-      if: ${{ github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'deploy libcontroller') }}
-      run: |
-        export SSH_AUTH_SOCK=/tmp/ssh_agent.sock
-        mkdir ~/.ssh
-        ssh-keyscan -H github.com > ~/.ssh/known_hosts
-        ssh-agent -a $SSH_AUTH_SOCK > /dev/null
-        ssh-add - <<< "${{ secrets.WEBOTS_CONTROLLER_DEPLOY_KEY }}"
-        scripts/packaging/sync_controller_lib.sh
     - name: Create/Update GitHub release
       if: ${{ (github.event_name == 'push' || github.event_name == 'schedule') }}
       run: |

docs/guide/installation-procedure.md

@@ -304,6 +304,24 @@ open ~/Applications/Webots.app    # to launch Webots using the open command
 
 Alternatively, you can double-click on the Webots icon to launch it.
 
+#### Troubleshooting for Apple Silicon Users
+
+If you are getting errors like these:
+```bash
+...(mach-o file, but is an incompatible architecture (have (arm64), need (x86_64)))
+```
+
+This is likely caused by Rosetta loading Webots under the x86 architecture instead of the native ARM. Unless you really want to use x86 binaries with your Webots simulation, make sure to turn off Rosetta. Sometimes macOS may try to open the app using Rosetta by default, which may cause issues when it comes to run robot controllers with dependencies on ARM libraries.
+
+To check if it's opened using Rosetta, right click on the Webots application in Finder and select Get Info. 
+
+Make sure that the "Open using Rosetta" setting is unchecked, like in the picture below: 
+
+%figure "Rosetta setting"
+
+![rosetta_setting.png](images/rosetta_setting.png)
+
+%end
 
 #### From the Homebrew Package
 

docs/guide/tutorial-7-your-first-proto.md

@@ -12,6 +12,7 @@ Create a new empty text file in the `protos` folder of your project called `Four
 
 Any PROTO file should at least respect the following structure:
 ```
+#VRML_SIM {{ webots.version.major }} utf8
 PROTO protoName [
   protoFields
 ]
@@ -30,6 +31,7 @@ Finally, save the PROTO file.
   **Solution**: You should have something like this:
 
 ```
+  #VRML_SIM {{ webots.version.major }} utf8
   PROTO FourWheelsRobot [
 
   ]
@@ -80,6 +82,7 @@ And the `mass` field of the [Physics](../reference/physics.md) node of the [Robo
 ```
 Save your PROTO file, it should now look like this:
 ```
+#VRML_SIM {{ webots.version.major }} utf8
 PROTO FourWheelsRobot [
   field SFVec3f    translation  0 0 0
   field SFRotation rotation     0 0 1 0

docs/reference/changelog-r2023.md

@@ -16,6 +16,7 @@ Released on ??
     - Disable `Select..` button in SFString editor if the field has restricted values ([5663](https://github.com/cyberbotics/webots/pull/5663)).
     - Improved plot representation in default robot window when a NaN value is received from a device ([#5680](https://github.com/cyberbotics/webots/pull/5680)).
   - Bug Fixes
+    - Fixed crash in Python API when a robot controller was using several cameras with different resolutions ([#5705](https://github.com/cyberbotics/webots/pull/5705)).
     - Fixed Python API `Supervisor.setSimulationMode` which was failing ([#5603](https://github.com/cyberbotics/webots/pull/5603)).
     - Fixed Python API `Node.enableContactPointsTracking` which was failing ([#5633](https://github.com/cyberbotics/webots/pull/5633)).
     - Fixed Python API field getters sometimes returning an invalid Field object ([#5633](https://github.com/cyberbotics/webots/pull/5633)).
@@ -30,6 +31,7 @@ Released on ??
     - Fixed a crash when setting the `Robot.battery` after the simulation start ([#5669](https://github.com/cyberbotics/webots/pull/5669)).
     - Fixed crashes resulting from converting to base nodes a PROTO containing DEF and USE nodes ([#5676](https://github.com/cyberbotics/webots/pull/5676)).
     - Fixed crashes resulting from updating a DEF node whose USE node is contained in a PROTO field triggering the regeneration ([#5676](https://github.com/cyberbotics/webots/pull/5676)).
+    - Fixed crashes resulting from copy or DEF/USE update in [`Solid.boundingObject`](solid.md) field ([#5686](https://github.com/cyberbotics/webots/pull/5686)).
 
 ## Webots R2023a
 Released on November 29th, 2022.

docs/reference/jointparameters.md

@@ -90,8 +90,9 @@ The `springConstant` field specifies the value of the spring constant (or spring
 The `springConstant` must be positive or zero.
 If the `springConstant` is zero (the default), no spring torque/force will be applied to the joint.
 If the `springConstant` is greater than zero, then a spring force will be computed and applied to the joint in addition to the other forces (i.e., motor force, damping force).
-The spring force is calculated according to Hooke's law: *F = -Kx*, where *K* is the `springConstant` and *x* is the current joint position as represented by the `position` field.
+In case of a linear joint it is expressed in *N/m* and the spring force is calculated according to Hooke's law: *F = -Kx*, where *K* is the `springConstant` and *x* is the current joint position as represented by the `position` field.
 Therefore, the spring force is computed so as to be proportional to the current joint position, and to move the joint back to its initial position.
+Similarly, in case of a rotational joint, the spring constant is expressed in *N.m/rad* and the resulting torque *T* is computed in from this formula: *T = -Kx*.
 When designing a robot model that uses springs, it is important to remember that the spring's resting position for each joint will correspond to the initial position of the joint.
 The only exception arises when the closest upper [Solid](solid.md) of the [Joint](joint.md) is passive, i.e. the `physics` field is not defined.
 In this case the spring force direction is inverted.
@@ -100,7 +101,8 @@ The `dampingConstant` field specifies the value of the joint damping constant.
 The value of `dampingConstant` must be positive or zero.
 If `dampingConstant` is zero (the default), no damping torque/force will be added to the joint.
 If `dampingConstant` is greater than zero, a damping torque/force will be applied to the joint in addition to the other forces (i.e., motor force, spring force).
-This damping torque/force is proportional to the effective joint velocity: *F = -Bv*, where *B* is the damping constant, and *v = dx/dt* is the effective joint velocity computed by the physics simulator.
+This damping torque/force *F* is proportional to the effective joint velocity: *F = -Bv*, where *B* is the damping constant, and *v = dx/dt* is the effective joint velocity computed by the physics simulator.
+The unit of the damping constant for a rotational joint is expressed in *N.m.s/rad* whereas the unit of the damping constant for a linear joint is expressed in *N.s/m*.
 
 %figure "Mechanical Diagram of a Slider Joint"
 

lib/controller/python/controller/camera.py

@@ -76,10 +76,6 @@ def __init__(self, name: Union[str, int], sampling_period: int = None):
         self._enable = wb.wb_camera_enable
         self._get_sampling_period = wb.wb_camera_get_sampling_period
         super().__init__(name, sampling_period)
-        width = self.width
-        height = self.height
-        wb.wb_camera_get_image.restype = ctypes.POINTER(ctypes.c_ubyte * (4 * width * height))
-        wb.wb_camera_recognition_get_segmentation_image.restype = ctypes.POINTER(ctypes.c_ubyte * (4 * width * height))
 
     def getExposure(self) -> float:
         return self.exposure
@@ -161,10 +157,12 @@ def setFov(self, f: float):
 
     @property
     def image(self) -> bytes:
+        wb.wb_camera_get_image.restype = ctypes.POINTER(ctypes.c_ubyte * (4 * self.width * self.height))
         return bytes(wb.wb_camera_get_image(self._tag).contents)
 
     @property
     def segmentation_image(self) -> bytes:
+        wb.wb_camera_recognition_get_segmentation_image.restype = ctypes.POINTER(ctypes.c_ubyte * (4 * self.width * self.height))
         return bytes(wb.wb_camera_recognition_get_segmentation_image(self._tag).contents)
 
     @property

src/webots/nodes/WbGeometry.cpp

@@ -470,7 +470,10 @@ void WbGeometry::setOdeData(dGeomID geom, WbMatter *matterAncestor) {
   if (!areOdeObjectsCreated())
     createOdeObjects();
 
+  if (mOdeGeom)
+    dGeomDestroy(mOdeGeom);
   mOdeGeom = geom;
+
   WbSolid *s = dynamic_cast<WbSolid *>(matterAncestor);
   if (s)
     dGeomSetData(geom, new WbOdeGeomData(s, this));