feat: adding webots dynamic simulation, tbd tested

tests/simulators/webots/dynamic/dynamic.scenic

@@ -0,0 +1,11 @@
+"""
+Create a Webots cube in air and have it drop
+"""
+
+model scenic.simulators.webots.model
+
+class AdhocBox(WebotsObject):
+  webotsAdhoc: {}
+
+ego = new AdhocBox at (0, 0, 10)
+workspace = Workspace(RectangularRegion((0, 0, 0), 0, 10, 10))

tests/simulators/webots/dynamic/webots_data/controllers/scenic_supervisor/scenic_supervisor.py

@@ -0,0 +1,16 @@
+from controller import Supervisor
+
+import scenic
+from scenic.simulators.webots import WebotsSimulator
+
+supervisor = Supervisor()
+simulator = WebotsSimulator(supervisor)
+
+path = supervisor.getCustomData()
+print(f"Loading Scenic scenario {path}")
+scenario = scenic.scenarioFromFile(path)
+
+while True:
+    scene, _ = scenario.generate()
+    print("Starting new simulation...")
+    simulator.simulate(scene, verbosity=2)

tests/simulators/webots/dynamic/webots_data/declare_externproto.py

@@ -0,0 +1,146 @@
+#!/usr/bin/env python
+
+# 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
+#
+#     https://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.
+
+"""Makes local PROTO references extern to fix the compatibility between R2022a and R2022b"""
+
+
+import os
+import re
+import sys
+import argparse
+from pathlib import Path
+import xml.etree.ElementTree as ET
+
+parser = argparse.ArgumentParser(description='Declares EXTERNPROTO references')
+parser.add_argument('webots_path', nargs=1, default=None)
+args = parser.parse_args()
+
+# ensure it's a valid webots path
+if sys.platform.startswith('darwin'):
+    protolist = os.path.join(args.webots_path[0], 'contents', 'resources', 'proto-list.xml')
+else:
+    protolist = os.path.join(args.webots_path[0], 'resources', 'proto-list.xml')
+
+if not os.path.exists(protolist):
+    raise RuntimeError(f'Path {protolist} is not a valid webots path, proto-list.xml not found')
+
+# parse proto-list.xml
+tree = ET.parse(protolist)
+root = tree.getroot()
+
+official_protos = {}
+for proto in root:
+    official_protos[proto.find('name').text] = proto.find('url').text
+
+files = []
+files.extend(Path('./protos').rglob('*.proto'))
+files.extend(Path('./worlds').rglob('*.wbt'))
+
+local_files = {}
+for file in files:
+    local_files[file.stem] = file.resolve()
+
+for file, path in local_files.items():
+    # read asset
+    with open(path, "r") as f:
+        contents = f.read()
+
+    # find any match by bruteforce, starting with local ones
+    local_matches = []
+    for key, value in local_files.items():
+        identifier = key.replace('+', r'\+').replace('-', r'\-').replace('_', r'\_')
+        regexp = re.compile(rf'{identifier}\s*' + re.escape('{'))
+        if regexp.search(contents):
+            if key not in local_matches:
+                local_matches.append(key)
+
+    # now among the official ones
+    official_matches = []
+    for key, value in official_protos.items():
+        identifier = key.replace('+', r'\+').replace('-', r'\-').replace('_', r'\_')
+        regexp = re.compile(rf'{identifier}\s*' + re.escape('{'))
+        if regexp.search(contents):
+            if key not in official_matches:
+                official_matches.append(key)
+
+    contents = contents.splitlines(keepends=True)
+
+    header = []
+    index = None
+    for n, line in enumerate(contents):
+        if line.replace(' ', '').replace('\t', '') == '\n':
+            continue
+        clean_line = line.strip()
+        if clean_line.startswith('#'):
+            header.append(clean_line + '\n')
+        else:
+            index = n
+            break
+
+    if not header:
+        raise RuntimeError(f'File {path.name} is invalid because it has no header')
+    version = re.search(r'^#\s*VRML_SIM\s+([a-zA-Z0-9\-]+)\s+utf8', header[0])
+    if not version:
+        raise RuntimeError(f'The header of {path.name} is not recognized')
+    elif (version.group(1) >= 'R2022b'):
+        print(f'Skipping "{path.name}" because header is already R2022b or higher')
+        continue
+
+    if index:
+        # consume all the empty lines following the index or previous attempts at declaring EXTERNPROTO
+        while contents[index] == '\n' or contents[index].startswith('EXTERNPROTO'):
+            del contents[index]
+    else:
+        raise RuntimeError(f'File {proto} has an invalid structure')
+
+    if len(local_matches) > 0 or len(official_matches) > 0:
+        print(f'File "{path.name}" depends on:')
+        for match in local_matches:
+            print(f'  [LOCAL] {match}.proto')
+        for match in official_matches:
+            if match not in local_matches:
+                print(f'  [OFFICIAL] {match}.proto')
+    else:
+        print(f'File "{path.name}" does not reference any PROTO')
+
+    declarations = []
+    for match in local_matches:
+        relative_path = os.path.relpath(local_files[match], path.parent)
+        relative_path = relative_path.replace("\\", "/")
+        declarations.append(f'EXTERNPROTO "{relative_path}"\n')
+
+    for match in official_matches:
+        if match in local_matches:  # favor existing local PROTO over official one if the name is the same
+            continue
+
+        declarations.append(f'EXTERNPROTO "{official_protos[match]}"\n')
+
+    # insert declaration in the PROTO file
+    if len(declarations) > 0:
+        contents.insert(index, '\n')
+        for declaration in declarations:
+            contents.insert(index, declaration)
+        contents.insert(index, '\n')
+
+    # update proto header
+    contents = contents[n:]  # remove old header
+    header[0] = '#VRML_SIM R2022b utf8\n'
+    contents = header + contents
+
+    # write to file
+    with open(path, "w") as f:
+        contents = "".join(contents)
+        f.write(contents)

tests/simulators/webots/dynamic/webots_data/protos/ScenicObject.proto

@@ -0,0 +1,28 @@
+#VRML_SIM R2023a utf8
+
+PROTO ScenicObject [
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+  field SFString name "solid"
+  field SFVec3f angularVelocity 0 0 0
+  field MFString url ""
+]
+{
+  Solid {
+    translation IS translation
+    rotation IS rotation
+    name IS name
+    angularVelocity IS angularVelocity
+    children [
+      CadShape {
+        url IS url
+        castShadows FALSE
+      }
+    ]
+    boundingObject Shape {
+      geometry Mesh {
+        url IS url
+      }
+    }
+  }
+}

tests/simulators/webots/dynamic/webots_data/protos/ScenicObjectWithPhysics.proto

@@ -0,0 +1,34 @@
+#VRML_SIM R2023a utf8
+
+PROTO ScenicObjectWithPhysics [
+  field SFVec3f translation 0 0 0
+  field SFRotation rotation 0 0 1 0
+  field SFString name "solid"
+  field SFVec3f angularVelocity 0 0 0
+  field MFString url ""
+  field SFFloat density 1000 # kg / m^3
+]
+{
+  Solid {
+    translation IS translation
+    rotation IS rotation
+    name IS name
+    angularVelocity IS angularVelocity
+    children [
+      CadShape {
+        url IS url
+        castShadows FALSE
+      }
+    ]
+    boundingObject Shape {
+      geometry Mesh {
+        url IS url
+      }
+    }
+    physics Physics {
+      # density will be set by the simulator
+      density IS density
+      mass -1
+    }
+  }
+}

tests/simulators/webots/dynamic/webots_data/worlds/world.wbt

@@ -0,0 +1,26 @@
+#VRML_SIM R2023a utf8
+
+IMPORTABLE EXTERNPROTO "../protos/ScenicObject.proto"
+IMPORTABLE EXTERNPROTO "../protos/ScenicObjectWithPhysics.proto"
+
+WorldInfo {
+  gravity 0
+  basicTimeStep 16
+  contactProperties [
+    ContactProperties {
+      coulombFriction [
+        0.8
+      ]
+    }
+  ]
+}
+Viewpoint {
+  orientation -0.19729161510865992 0.07408415124219735 0.977541588446517 2.4380019050245862
+  position 6.683615307234937 -5.5006366813466805 4.16419445995153
+}
+Robot {
+  name "Supervisor"
+  controller "scenic_supervisor"
+  customData "../../dynamic.scenic"
+  supervisor TRUE
+}