cyberbotics · tpjnorton · Feb 16, 2018 · Feb 7, 2018 · Feb 7, 2018 · Feb 7, 2018
diff --git a/css/webots-doc.css b/css/webots-doc.css
@@ -61,7 +61,8 @@
   top: 0px !important;
 }
 .webots-doc #content {
-  max-width: calc(1000px - 4em);
+  box-sizing: border-box;
+  max-width: 1034px;
   margin: 0 auto;
   background: white;
   min-height: 100vh;
@@ -211,6 +212,7 @@
   background: transparent;
   font-size: 15px;
   font-family: "Roboto Mono", monospace;
+  white-space: pre;
 }
 .webots-doc p > code, .webots-doc li > code {
   color: #222;

diff --git a/reference/accelerometer.md b/reference/accelerometer.md
@@ -4,11 +4,11 @@ Derived from [Device](device.md).
 
 ```
 Accelerometer {
-  MFVec3f lookupTable [ ]  # interpolation
-  SFBool  xAxis       TRUE # compute x-axis
-  SFBool  yAxis       TRUE # compute y-axis
-  SFBool  zAxis       TRUE # compute z-axis
-  SFFloat resolution  -1
+  MFVec3f lookupTable [ ]    # lookup table
+  SFBool  xAxis       TRUE   # {TRUE, FALSE}
+  SFBool  yAxis       TRUE   # {TRUE, FALSE}
+  SFBool  zAxis       TRUE   # {TRUE, FALSE}
+  SFFloat resolution  -1     # [0, inf) 
 }
 ```
 

diff --git a/reference/appearance.md b/reference/appearance.md
@@ -2,11 +2,11 @@
 
 ```
 Appearance {
-  SFNode   material         NULL
-  SFNode   texture          NULL
-  SFNode   textureTransform NULL
-  MFNode   shaders          NULL
-  SFString name             "appearance"
+  SFNode   material         NULL           # {Material, PROTO}
+  SFNode   texture          NULL           # {ImageTexture, MultiTexture, ComposedCubeMapTexture, PROTO}
+  SFNode   textureTransform NULL           # {TextureTransform, PROTO}
+  MFNode   shaders          NULL           # {ComposedShader, PROTO}
+  SFString name             "appearance"   # any string
 }
 ```
 

diff --git a/reference/background.md b/reference/background.md
@@ -2,13 +2,13 @@
 
 ```
 Background {
-  MFString backUrl   [ ]
-  MFString bottomUrl [ ]
-  MFString frontUrl  [ ]
-  MFString leftUrl   [ ]
-  MFString rightUrl  [ ]
-  MFString topUrl    [ ]
-  MFColor  skyColor  [ 0 0 0 ] # [0,1]
+  MFString backUrl   [ ]          # list of Image URLs
+  MFString bottomUrl [ ]          # list of Image URLs
+  MFString frontUrl  [ ]          # list of Image URLs
+  MFString leftUrl   [ ]          # list of Image URLs
+  MFString rightUrl  [ ]          # list of Image URLs
+  MFString topUrl    [ ]          # list of Image URLs
+  MFColor  skyColor  [ 0 0 0 ]    # any color
 }
 ```
 

diff --git a/reference/balljointparameters.md b/reference/balljointparameters.md
@@ -2,9 +2,9 @@
 
 ```
 BallJointParameters {
-  SFVec3f anchor          0 0 0 # point at which the bodies are connected (m)
-  SFFloat springConstant  0     # uniform rotational spring constant (Nm)
-  SFFloat dampingConstant 0     # uniform rotational damping constant (Nms)
+  SFVec3f anchor          0 0 0   # any vector
+  SFFloat springConstant  0       # [0, inf)
+  SFFloat dampingConstant 0       # [0, inf)
 }
 ```
 

diff --git a/reference/box.md b/reference/box.md
@@ -2,7 +2,7 @@
 
 ```
 Box {
-  SFVec3f size 2 2 2 # (0,inf)
+  SFVec3f size 2 2 2   # any positive vector
 }
 ```
 

diff --git a/reference/camera.md b/reference/camera.md
@@ -4,22 +4,22 @@ Derived from [Device](device.md).
 
 ```
 Camera {
-  SFFloat  fieldOfView  0.7854
-  SFInt32  width        64
-  SFInt32  height       64
-  SFBool   spherical    FALSE
-  SFFloat  near         0.01
-  SFFloat  far          0.0
-  SFBool   antiAliasing FALSE
-  SFFloat  motionBlur   0.0
-  SFFloat  noise        0.0
-  SFString noiseMaskUrl ""
-  SFNode   lens         NULL
-  SFNode   focus        NULL
-  SFNode   zoom         NULL
-  SFNode   recognition  NULL
-  SFNode   lensFlare    NULL
-  SFString compositor   ""
+  SFFloat  fieldOfView  0.7854  # [0, pi]
+  SFInt32  width        64      # [0, inf)
+  SFInt32  height       64      # [0, inf)
+  SFBool   spherical    FALSE   # {TRUE, FALSE}
+  SFFloat  near         0.01    # [0, inf)
+  SFFloat  far          0.0     # [0, inf)
+  SFBool   antiAliasing FALSE   # {TRUE, FALSE}
+  SFFloat  motionBlur   0.0     # [0, inf)
+  SFFloat  noise        0.0     # [0, 1]
+  SFString noiseMaskUrl ""      # any string
+  SFNode   lens         NULL    # {Lens, PROTO}
+  SFNode   focus        NULL    # {Focus, PROTO}
+  SFNode   zoom         NULL    # {Zoom, PROTO}
+  SFNode   recognition  NULL    # {Recognition, PROTO}
+  SFNode   lensFlare    NULL    # {LensFlare, PROTO}
+  SFString compositor   ""      # compositor name
 }
 ```
 

diff --git a/reference/capsule.md b/reference/capsule.md
@@ -2,12 +2,12 @@
 
 ```
 Capsule {
-  SFBool  bottom      TRUE
-  SFFloat height      2    # (0,inf)
-  SFFloat radius      1    # (0,inf)
-  SFBool  side        TRUE
-  SFBool  top         TRUE
-  SFInt32 subdivision 12   # (2,inf)
+  SFBool  bottom      TRUE   # {TRUE, FALSE}
+  SFFloat height      2      # [0, inf)
+  SFFloat radius      1      # [0, inf)
+  SFBool  side        TRUE   # {TRUE, FALSE}
+  SFBool  top         TRUE   # {TRUE, FALSE}
+  SFInt32 subdivision 12     # [3, inf)
 }
 ```
 

diff --git a/reference/charger.md b/reference/charger.md
@@ -4,10 +4,10 @@ Derived from [Solid](solid.md).
 
 ```
 Charger {
-  MFFloat battery       [ ]
-  SFFloat radius        0.04  # (0,inf)
-  SFColor emissiveColor 0 1 0 # [0,1]
-  SFBool  gradual       TRUE
+  MFFloat battery       [ ]     # [0, inf)
+  SFFloat radius        0.04    # [0, inf)
+  SFColor emissiveColor 0 1 0   # any color
+  SFBool  gradual       TRUE    # {TRUE, FALSE}
 }
 ```
 

diff --git a/reference/color.md b/reference/color.md
@@ -2,7 +2,7 @@
 
 ```
 Color {
-  MFColor color [ ] # [0,1]
+  MFColor color [ ]   # any color
 }
 ```
 

diff --git a/reference/compass.md b/reference/compass.md
@@ -4,11 +4,11 @@ Derived from [Device](device.md).
 
 ```
 Compass {
-  MFVec3f lookupTable [ ]  # interpolation
-  SFBool  xAxis       TRUE # compute x-axis
-  SFBool  yAxis       TRUE # compute y-axis
-  SFBool  zAxis       TRUE # compute z-axis
-  SFFloat resolution  -1
+  MFVec3f lookupTable [ ]    # lookup table
+  SFBool  xAxis       TRUE   # {TRUE, FALSE}
+  SFBool  yAxis       TRUE   # {TRUE, FALSE}
+  SFBool  zAxis       TRUE   # {TRUE, FALSE}
+  SFFloat resolution  -1     # {-1, [0, inf)}
 }
 ```
 

diff --git a/reference/composedcubemaptexture.md b/reference/composedcubemaptexture.md
@@ -2,12 +2,12 @@
 
 ```
 ComposedCubeMapTexture {
-  SFNode right  NULL
-  SFNode left   NULL
-  SFNode top    NULL
-  SFNode bottom NULL
-  SFNode front  NULL
-  SFNode back   NULL
+  SFNode right  NULL   # {ImageTexture, PROTO}
+  SFNode left   NULL   # {ImageTexture, PROTO}
+  SFNode top    NULL   # {ImageTexture, PROTO}
+  SFNode bottom NULL   # {ImageTexture, PROTO}
+  SFNode front  NULL   # {ImageTexture, PROTO}
+  SFNode back   NULL   # {ImageTexture, PROTO}
 }
 ```
 

diff --git a/reference/composedshader.md b/reference/composedshader.md
@@ -4,9 +4,9 @@
 
 ```
 ComposedShader {
-  MFNode uniforms    [ ]
-  MFNode parts       [ ]
-  SFBool transparent FALSE
+  MFNode uniforms    [ ]     # {Uniform, PROTO}
+  MFNode parts       [ ]     # {ShaderPart, PROTO}
+  SFBool transparent FALSE   # {TRUE, FALSE}
 }
 ```
 

diff --git a/reference/cone.md b/reference/cone.md
@@ -2,11 +2,11 @@
 
 ```
 Cone {
-  SFFloat bottomRadius 1    # (0,inf)
-  SFFloat height       2    # (0,inf)
-  SFBool  side         TRUE
-  SFBool  bottom       TRUE
-  SFInt32 subdivision  12   # (3,inf)
+  SFFloat bottomRadius 1      # [0, inf)
+  SFFloat height       2      # [0, inf)
+  SFBool  side         TRUE   # {TRUE, FALSE}
+  SFBool  bottom       TRUE   # {TRUE, FALSE}
+  SFInt32 subdivision  12     # [3, inf)
 }
 ```
 

diff --git a/reference/connector.md b/reference/connector.md
@@ -4,18 +4,18 @@ Derived from [Device](device.md).
 
 ```
 Connector {
-  SFString type              "symmetric"
-  SFBool   isLocked          FALSE
-  SFBool   autoLock          FALSE
-  SFBool   unilateralLock    TRUE
-  SFBool   unilateralUnlock  TRUE
-  SFFloat  distanceTolerance 0.01        # [0,inf)
-  SFFloat  axisTolerance     0.2         # [0,pi)
-  SFFloat  rotationTolerance 0.2         # [0,pi)
-  SFInt32  numberOfRotations 4
-  SFBool   snap              TRUE
-  SFFloat  tensileStrength   -1
-  SFFloat  shearStrength     -1
+  SFString type              "symmetric"   # {"symmetric", "active", "passive"}
+  SFBool   isLocked          FALSE         # {TRUE, FALSE}
+  SFBool   autoLock          FALSE         # {TRUE, FALSE}
+  SFBool   unilateralLock    TRUE          # {TRUE, FALSE}
+  SFBool   unilateralUnlock  TRUE          # {TRUE, FALSE}
+  SFFloat  distanceTolerance 0.01          # [0, inf)
+  SFFloat  axisTolerance     0.2           # [0, pi]
+  SFFloat  rotationTolerance 0.2           # [0, pi]
+  SFInt32  numberOfRotations 4             # [0, inf)
+  SFBool   snap              TRUE          # {TRUE, FALSE}
+  SFFloat  tensileStrength   -1            # {-1, [0, inf)}
+  SFFloat  shearStrength     -1            # {-1, [0, inf)}
 }
 ```
 

diff --git a/reference/contactproperties.md b/reference/contactproperties.md
@@ -2,18 +2,18 @@
 
 ```
 ContactProperties {
-  SFString material1          "default"
-  SFString material2          "default"
-  MFFloat  coulombFriction    1                  # [0,inf)
-  SFVec2f  frictionRotation   0 0
-  SFFloat  bounce             0.5                # [0,1]
-  SFFloat  bounceVelocity     0.01               # (m/s)
-  MFFloat  forceDependentSlip 0
-  SFFloat  softERP            0.2
-  SFFloat  softCFM            0.001
-  SFString bumpSound          "sounds/bump.wav"
-  SFString rollSound          "sounds/roll.waw"
-  SFString SlideSound         "sounds/slide.wav"
+  SFString material1          "default"            # any string
+  SFString material2          "default"            # any string
+  MFFloat  coulombFriction    1                    # [0, inf)
+  SFVec2f  frictionRotation   0 0                  # any positive vector
+  SFFloat  bounce             0.5                  # [0, 1]
+  SFFloat  bounceVelocity     0.01                 # [0, inf)
+  MFFloat  forceDependentSlip 0                    # [0, inf)
+  SFFloat  softERP            0.2                  # [0, 1]
+  SFFloat  softCFM            0.001                # [0, inf)
+  SFString bumpSound          "sounds/bump.wav"    # any string
+  SFString rollSound          "sounds/roll.waw"    # any string
+  SFString SlideSound         "sounds/slide.wav"   # any string
 }
 ```
 

diff --git a/reference/coordinate.md b/reference/coordinate.md
@@ -2,7 +2,7 @@
 
 ```
 Coordinate {
-  MFVec3f point  [ ] # (-inf,inf)
+  MFVec3f point  [ ]   # (-inf, inf)
 }
 ```
 

diff --git a/reference/cylinder.md b/reference/cylinder.md
@@ -2,12 +2,12 @@
 
 ```
 Cylinder {
-  SFBool  bottom      TRUE
-  SFFloat height      2    # (0,inf)
-  SFFloat radius      1    # (0,inf)
-  SFBool  side        TRUE
-  SFBool  top         TRUE
-  SFInt32 subdivision 12   # (2,inf)
+  SFBool  bottom      TRUE   # {TRUE, FALSE}
+  SFFloat height      2      # [0, inf)
+  SFFloat radius      1      # [0, inf)
+  SFBool  side        TRUE   # {TRUE, FALSE}
+  SFBool  top         TRUE   # {TRUE, FALSE}
+  SFInt32 subdivision 12     # [2, inf)
 }
 ```
 

diff --git a/reference/damping.md b/reference/damping.md
@@ -2,8 +2,8 @@
 
 ```
 Damping {
-  SFFloat linear  0.2 # [0,1]
-  SFFloat angular 0.2 # [0,1]
+  SFFloat linear  0.2    # [0, 1]
+  SFFloat angular 0.2    # [0, 1]
 }
 ```
 

diff --git a/reference/differentialwheels.md b/reference/differentialwheels.md
@@ -9,16 +9,16 @@ Derived from [Robot](robot.md).
 
 ```
 DifferentialWheels {
-  SFFloat motorConsumption  0    # [0,inf)
-  SFFloat axleLength        0.1  # (0,inf)
-  SFFloat wheelRadius       0.01 # (0,inf)
-  SFFloat maxSpeed          10   # (0,inf)
-  SFFloat maxAcceleration   10
-  SFFloat speedUnit         1
-  SFFloat slipNoise         0.1  # [0,inf)
-  SFFloat encoderNoise      -1
-  SFFloat encoderResolution -1
-  SFFloat maxForce          0.3  # (0,inf)
+  SFFloat motorConsumption  0      # [0, inf)
+  SFFloat axleLength        0.1    # [0, inf)
+  SFFloat wheelRadius       0.01   # [0, inf)
+  SFFloat maxSpeed          10     # [0, inf)
+  SFFloat maxAcceleration   10     # [0, inf)
+  SFFloat speedUnit         1      # [0, inf)
+  SFFloat slipNoise         0.1    # [0, inf)
+  SFFloat encoderNoise      -1     # {-1, [0, inf)}
+  SFFloat encoderResolution -1     # {-1, [0, inf)}
+  SFFloat maxForce          0.3    # [0, inf)
 }
 ```
 

diff --git a/reference/directionallight.md b/reference/directionallight.md
@@ -4,7 +4,7 @@ Derived from [Light](light.md).
 
 ```
 DirectionalLight {
-  SFVec3f direction 0 0 -1 # (-inf,inf)
+  SFVec3f direction 0 0 -1   # any vector
 }
 ```
 

diff --git a/reference/display.md b/reference/display.md
@@ -4,8 +4,8 @@ Derived from [Device](device.md).
 
 ```
 Display {
-  SFInt32 width  64
-  SFInt32 height 64
+  SFInt32 width  64   # [1, inf)
+  SFInt32 height 64   # [1, inf)
 }
 ```