Merge pull request #6044 from cyberbotics/sync-master-55532ceea

Merge master into develop

Author: Benjamin Délèze

docs/guide/starting-webots.md

@@ -56,6 +56,9 @@ Options:
   --batch
     Prevent Webots from creating blocking pop-up windows.
 
+  --clear-cache
+    Clear the cache of Webots on startup.
+
   --stdout
     Redirect the stdout of the controllers to the terminal.
 

docs/reference/changelog-r2023.md

@@ -39,6 +39,7 @@ Released on ??
       - Field getters sometimes returning an invalid Field object ([#5633](https://github.com/cyberbotics/webots/pull/5633)).
       - `Field.enableSFTracking` and `Field.disableSFTracking` which were failing ([#5640](https://github.com/cyberbotics/webots/pull/5640)).
       - `Motor.enableForceFeedback` where the `sampling_period` argument was missing ([#5797](https://github.com/cyberbotics/webots/pull/5797)).
+      - `Motor.setAcceleration` was missing the device tag parameter ([#6036](https://github.com/cyberbotics/webots/pull/6036)).
     - Fixed crash resulting from requesting pose tracking of unsuitable nodes ([#5620](https://github.com/cyberbotics/webots/pull/5620)).
     - Fixed memory leaks, particularly when in no-rendering mode and spawning/deleting nodes ([#5639](https://github.com/cyberbotics/webots/pull/5639)).
     - Fixed crashes resulting from streaming pose, SF field values or contact points after deleting the tracked nodes ([#5638](https://github.com/cyberbotics/webots/pull/5638)).
@@ -66,7 +67,7 @@ Released on ??
     - Fixed bug causing Webots to hang when requesting multiple poses while pose-tracking multiple nodes ([#5952](https://github.com/cyberbotics/webots/pull/5952)).
     - Fixed physics state updates of [Solid](solid.md) nodes added to a descendant [`Joint.endPoint`](joint.md) during simulation ([#5961](https://github.com/cyberbotics/webots/pull/5961)).
     - Fixed unwanted altitude change when reaching a target waypoint in `mavic2pro_patrol.c` ([#5981](https://github.com/cyberbotics/webots/pull/5981)).
-    - Fixed the extern controller connection to a target Webots instance when a snap one is running. ([#6002](https://github.com/cyberbotics/webots/pull/6002)).
+    - Fixed the extern controller connection to a target Webots instance when a snap one is running ([#6002](https://github.com/cyberbotics/webots/pull/6002)).
 
 ## Webots R2023a
 Released on November 29th, 2022.

lib/controller/python/controller/motor.py

@@ -216,7 +216,7 @@ def target_acceleration(self) -> float:
 
     @target_acceleration.setter
     def target_acceleration(self, acceleration: float):
-        wb.wb_motor_set_acceleration(acceleration)
+        wb.wb_motor_set_acceleration(self._tag, ctypes.c_double(acceleration))
 
     force = property(fset=setForce)
     torque = property(fset=setTorque)

src/webots/gui/WbSingleTaskApplication.cpp

@@ -190,6 +190,8 @@ void WbSingleTaskApplication::showHelp() const {
   cerr << tr("    Minimize the Webots window on startup.").toUtf8().constData() << endl << endl;
   cerr << "  --batch" << endl;
   cerr << tr("    Prevent Webots from creating blocking pop-up windows.").toUtf8().constData() << endl << endl;
+  cerr << "  --clear-cache" << endl;
+  cerr << tr("    Clear the cache of Webots on startup.").toUtf8().constData() << endl << endl;
   cerr << "  --stdout" << endl;
   cerr << tr("    Redirect the stdout of the controllers to the terminal.").toUtf8().constData() << endl << endl;
   cerr << "  --stderr" << endl;