robots

As pointed out in cyberbotics/webots#2787 (comment), we should probably create a common stylesheet.qss in the resources folder that would contain the common style sheets to all platforms.

Hello,
I was wondering if it is possible to share some complete scenes like indoor places or any scene for obstacle avoidance and potential machine learning. Is there any way to add objects, textures and so on to the scene? Thanks

Context:

• either in the data base or exported there may be outdated xml programs
• if this is detected, a transformer is called to update the xml to the current version 3.1
• currently this is done inline in rest methods that are responsible for loading/importing program

Goal:

• create a new rest method, that gets old xml and returns new xml
• add the uri of this rest method to

Describe the bug
Current call uses:

const auto angle = iangle - odom->getState(StateMode::FRAME_TRANSFORMATION).theta;

Which can lead to 270 degree turns instead of 90 degree turns.

Changing to:

const auto angle = OdomMath::constrainAngle180(iangle - odom->getState(StateMode::FRAME_TRANSFORMATION).theta);

Should ensure the robot turns the shortest angle

**Steps To R