Merge master into develop

.eslintrc.json

@@ -17,6 +17,7 @@
     "Enum": false,
     "document": false,
     "glm": false,
+    "libtess": false,
     "Module": false,
     "navigator": false,
     "Quaternion": false,

.gitignore

@@ -65,6 +65,7 @@ Thumbs.db
 /.clang-format
 /msys64
 /webots
+/webots-controller
 /webots.lnk
 /webots_debug_output.txt
 /util

Contents/Info.plist

@@ -35,7 +35,7 @@
 	<key>CFBundleExecutable</key>
 	<string>webots</string>
 	<key>CFBundleGetInfoString</key>
-	<string>Webots R2023a revision 1, Copyright 1998-2023 Cyberbotics Ltd.</string>
+	<string>Webots R2023b, Copyright 1998-2023 Cyberbotics Ltd.</string>
 	<key>CFBundleIconFile</key>
 	<string>webots_icon</string>
 	<key>CFBundleIdentifier</key>
@@ -47,11 +47,11 @@
 	<key>CFBundlePackageType</key>
 	<string>APPL</string>
 	<key>CFBundleShortVersionString</key>
-	<string>R2023a revision 1</string>
+	<string>R2023b</string>
 	<key>CFBundleSignature</key>
 	<string>wbt </string>
 	<key>CFBundleVersion</key>
-	<string>R2023a revision 1</string>
+	<string>R2023b</string>
 	<key>LSMinimumSystemVersion</key>
 	<string>10.14</string>
 	<key>CSResourcesFileMapped</key>

docs/blog/Webots-2023-a-release.md

@@ -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.

docs/css/webots-doc.css

@@ -601,7 +601,7 @@ body {
 .ui-icon {
   display: inline-block;
   background-repeat: no-repeat;
-  background-image: url('https://cyberbotics.com/wwi/R2023a/images/icons.svg');
+  background-image: url('https://cyberbotics.com/wwi/R2023b/images/icons.svg');
   background-color: transparent;
   border: none;
   width: 34px;

docs/dependencies.txt

@@ -12,7 +12,3 @@ https://cyberbotics.com/showdown/1.3.0/showdown-youtube.min.js
 # mermaid
 
 https://cdnjs.cloudflare.com/ajax/libs/mermaid/7.0.0/mermaidAPI.min.js
-
-# ace
-
-https://cdnjs.cloudflare.com/ajax/libs/ace/1.2.0/ace.js

docs/guide/controller-programming.md

@@ -75,6 +75,8 @@ public class HelloWorld {
 
 %tab "MATLAB"
 ```MATLAB
+function hello_world
+
 while wb_robot_step(32) ~= -1
   wb_console_print(sprintf('Hello World!\n'), WB_STDOUT);
 end
@@ -207,6 +209,8 @@ public class ReadingSensor {
 
 %tab "MATLAB"
 ```MATLAB
+function read_sensor
+
 TIME_STEP = 32;
 
 sensor = wb_robot_get_device('my_distance_sensor');
@@ -484,17 +488,19 @@ public class Actuators {
 
 %tab "MATLAB"
 ```MATLAB
+function actuators
+
 TIME_STEP = 32;
 
 motor = wb_robot_get_device('my_motor');
 
-double F = 2.0;   % frequency 2 Hz
-double t = 0.0;   % elapsed simulation time
+F = 2;   % frequency 2 Hz
+t = 0;   % elapsed simulation time
 
 while wb_robot_step(TIME_STEP) ~= -1
-  position = sin(t * 2.0 * pi * F);
+  position = sin(t * 2 * pi * F);
   wb_motor_set_position(motor, position);
-  t += TIME_STEP / 1000.0;
+  t = t + TIME_STEP / 1000;
 end
 ```
 %tab-end
@@ -953,7 +959,7 @@ import com.cyberbotics.webots.controller.DistanceSensor;
 import com.cyberbotics.webots.controller.Motor;
 import com.cyberbotics.webots.controller.Robot;
 
-public class ActuSensorJava {
+public class ActuSensor {
 
   public static void main(String[] args) {
 
@@ -993,6 +999,8 @@ public class ActuSensorJava {
 
 %tab "MATLAB"
 ```MATLAB
+function actu_sensor
+
 TIME_STEP = 32;
 left_sensor = wb_robot_get_device('left_sensor');
 right_sensor = wb_robot_get_device('right_sensor');
@@ -1028,7 +1036,8 @@ end
 In the ".wbt" file, it is possible to specify arguments that are passed to a controller when it starts.
 They are specified in the `controllerArgs` field of the [Robot](../reference/robot.md) node, and they are passed as parameters of the `main` function.
 For example, this can be used to specify parameters that vary for each robot's controller.
-Note that using MATLAB, the controller arguments retrieval is not supported.
+Note that the implementation will differ significantly across the different languages. 
+If using MATLAB, you should add the optional argument [`varargin`](https://www.mathworks.com/help/matlab/ref/varargin.html) to the function declaration. 
 
 For example if we have:
 
@@ -1051,8 +1060,7 @@ And if the controller's name is *"demo"*, then this sample controller code:
 int main(int argc, const char *argv[]) {
   wb_robot_init();
 
-  int i;
-  for (i = 0; i < argc; i++)
+  for (int i = 1; i < argc; i++)
     printf("argv[%i]=%s\n", i, argv[i]);
 
   wb_robot_cleanup();
@@ -1072,8 +1080,7 @@ int main(int argc, const char *argv[]) {
 
   Robot *robot = new Robot();
 
-  int i;
-  for (i = 0; i < argc; i++)
+  for (int i = 1; i < argc; i++)
     std::cout << "argv[" << i << "]=" << argv[i] << std::endl;
 
   delete robot;
@@ -1089,7 +1096,7 @@ import sys
 
 robot = Robot()
 
-for i in range(0, len(sys.argv)):
+for i in range(1, len(sys.argv)):
     print("argv[%i]=%s" % (i, sys.argv[i]))
 ```
 %tab-end
@@ -1098,24 +1105,33 @@ for i in range(0, len(sys.argv)):
 ```java
 import com.cyberbotics.webots.controller.Robot;
 
-public class Arguments {
+public class Demo {
 
   public static void main(String[] args) {
 
     final Robot robot = new Robot();
 
-    for(int i=0; i < args.length ; i++)
+    for(int i=1; i < args.length ; i++)
       System.out.format("argv[%d]=%s\n",i, args[i]);
   }
 }
 ```
 %tab-end
+
+%tab "MATLAB"
+```MATLAB
+function demo(varargin)
+
+for i=1:nargin 
+    wb_console_print(sprintf('argv[%d]=%s\n', i, varargin{i}), WB_STDOUT);
+end
+```
+%tab-end
 %end
 
 This will print:
 
 ```
-argv[0]=demo
 argv[1]=one
 argv[2]=two
 argv[3]=three
@@ -1258,6 +1274,8 @@ public class ReadingSensor {
 
 %tab "MATLAB"
 ```MATLAB
+function reading_sensor
+
 TIME_STEP = 32;
 sensor = wb_robot_get_device('my_distance_sensor');
 wb_distance_sensor_enable(sensor, TIME_STEP);

docs/guide/controller-start-up.md

@@ -14,7 +14,7 @@ For example if the controller's name is "xyz\_controller", then Webots looks for
 3. "xyz\_controller.jar" (a Java .jar file)
 4. "xyz\_controller.bsg" (a Webots/BotStudio file)
 5. "xyz\_controller.py" (a Python script)
-6. "xyz\_controller.m" (a MATLAB script)
+6. "xyz\_controller.m" (a MATLAB function)
 
 The first file that is found will be executed by Webots using the required language interpreter (Java, Python, MATLAB).
 So the priority is defined by the file extension, e.g. it won't be possible to execute "xyz\_controller.m" if a file named "xyz\_controller.py" is also present in the same controller directory.

docs/guide/matlab.md

@@ -6,11 +6,15 @@ The MATLAB functions and prototypes are described in Webots [Reference Manual](.
 Note that unlike with the C API, there are no `wb_robot_init` and `wb_robot_cleanup` functions in the MATLAB API.
 The necessary initialization and cleanup are automatically carried out respectively before entering and after leaving the controller code.
 
+You should implement your controller as a [function](https://www.mathworks.com/help/matlab/matlab_prog/scripts-and-functions.html) by adding the necessary `function` declaration followed by the name of the controller at the start of the file.
+
 If the MATLAB code uses graphics, it is necessary to call the `drawnow` command somewhere in the control loop in order to flush the graphics.
 
 Here is a simple MATLAB controller example:
 
 ```MATLAB
+function simple_example
+
 % uncomment the next two lines to use the MATLAB desktop
 %desktop;
 %keyboard;

docs/guide/menu.md

@@ -99,7 +99,6 @@
     - [GhostDog](ghostdog.md)
     - [Hemisson](hemisson.md)
     - [HOAP-2](hoap2.md)
-    - [iCub](icub.md)
     - [IRB 4600/40](irb4600-40.md)
     - [IPR](ipr.md)
     - [JetBot](jetbot.md)
@@ -131,6 +130,7 @@
     - [Robotis OP2](robotis-op2.md)
     - [Robotis OP3](robotis-op3.md)
     - [ROSbot](rosbot.md)
+    - [ROSbot XL](rosbot-xl.md)
     - [Salamander](salamander.md)
     - [Scara T6](scara-epson-t6.md)
     - [Shrimp](shrimp.md)

docs/guide/robots.md

@@ -24,7 +24,6 @@ Please [contact us](https://cyberbotics.com/#contact) if you would like to see y
 | ![icon.png](images/robots/ghostdog/icon.png)         | [GhostDog](ghostdog.md)                   | EPFL / BioRob        | *Dog-like robot*                  |
 | ![icon.png](images/robots/hemisson/icon.png)         | [Hemisson](hemisson.md)                   | K-Team               | *Two-wheeled robot*               |
 | ![icon.png](images/robots/hoap2/icon.png)            | [HOAP-2](hoap2.md)                        | Fujitsu              | *Small size humanoid*             |
-| ![icon.png](images/robots/icub/icon.png)             | [iCub](icub.md)                           | RobotCup             | *Human-size humanoid*             |
 | ![icon.png](images/robots/ipr/icon.png)              | [IPR](ipr.md)                             | Neuronics            | *Robotics arm*                    |
 | ![icon.png](images/robots/irb4600-40/icon.png)       | [IRB 4600/40](irb4600-40.md)              | ABB                  | *Robotics arm*                    |
 | ![icon.png](images/robots/jetbot/icon.png)           | [JetBot](jetbot.md)                       | NVIDIA               | *Two-wheeled robot*               |
@@ -56,6 +55,7 @@ Please [contact us](https://cyberbotics.com/#contact) if you would like to see y
 | ![icon.png](images/robots/robotis-op2/icon.png)      | [Robotis OP2](robotis-op2.md)             | Robotis              | *Small size humanoid*             |
 | ![icon.png](images/robots/robotis-op3/icon.png)      | [Robotis OP3](robotis-op3.md)             | Robotis              | *Small size humanoid*             |
 | ![icon.png](images/robots/rosbot/icon.png)           | [ROSbot](rosbot.md)                       | Husarion             | *Four-wheeled robot*              |
+| ![icon.png](images/robots/rosbot_xl/icon.png)        | [ROSbot XL](rosbot-xl.md)                 | Husarion             | *Four-wheeled robot*              |
 | ![icon.png](images/robots/salamander/icon.png)       | [Salamander](salamander.md)               | EPFL / BioRob        | *Bio-inspired robot*              |
 | ![icon.png](images/robots/scara_t6/icon.png)         | [Scara T6](scara-epson-t6.md)             | Epson                | *SCARA robot*                     |
 | ![icon.png](images/robots/shrimp/icon.png)           | [Shrimp](shrimp.md)                       | BlueBotics           | *Six-wheeled robot*               |
@@ -67,7 +67,7 @@ Please [contact us](https://cyberbotics.com/#contact) if you would like to see y
 | ![icon.png](images/robots/tiago_iron/icon.png)       | [TIAGo Iron](tiago-iron.md)               | PAL Robotics         | *Two-wheeled human-like robot*    |
 | ![icon.png](images/robots/tiago_steel/icon.png)      | [TIAGo Steel](tiago-steel.md)             | PAL Robotics         | *Two-wheeled human-like robot*    |
 | ![icon.png](images/robots/tiago_titanium/icon.png)   | [TIAGo Titanium](tiago-titanium.md)       | PAL Robotics         | *Two-wheeled human-like robot*    |
-| ![icon.png](images/robots/tiago++/icon.png)          | [TIAGo++ ](tiagopp.md)                    | PAL Robotics         | *Two-wheeled human-like robot*    |
+| ![icon.png](images/robots/tiagopp/icon.png)          | [TIAGopp ](tiagopp.md)                    | PAL Robotics         | *Two-wheeled human-like robot*    |
 | ![icon.png](images/robots/thymio2/icon.png)          | [Thymio II](thymio2.md)                   | Mobsya               | *Two-wheeled robot*               |
 | ![icon.png](images/robots/tinkerbots/icon.png)       | [Tinkerbots](tinkerbots.md)               | Kinematics GMBH      | *Robotics kit*                    |
 | ![icon.png](images/robots/turtlebot3burger/icon.png) | [Turtlebot3 Burger](turtlebot3-burger.md) | Robotis              | *Two-wheeled robot*               |