Install Webots: https://cyberbotics.com/doc/guide/installation-procedure

Webots Command Line:
https://cyberbotics.com/doc/guide/starting-webots#command-line-arguments

Add these environment variables

export PATH="/Applications/Webots.app/Contents/MacOS:$PATH"
export WEBOTS_HOME=/Applications/Webots.app
export WEBOTS_HOME_PATH=$WEBOTS_HOME/Contents
export QT_QPA_PLATFORM_PLUGIN_PATH="/Applications/Webots.app/Contents/lib/webots/qt/plugins/platforms"
export LD_LIBRARY_PATH="~/software/openssl-1.0.2"
export QT_PLUGIN_PATH="/Applications/Webots.app/Contents/lib/webots/qt/plugins"
export PYTHONPATH="/Applications/Webots.app/Contents/lib/controller/python:$PYTHONPATH"

For Mac: You might need to install the x86_64 versions of numpy and opencv-python using these commands
pip uninstall numpy
pip cache purge
arch -x86_64 pip install numpy

Replace numpy with opencv-python as well

For Mac: You might need to install the QT dependencies
https://github.com/cyberbotics/webots/wiki/Qt-compilation

For Mac: You might need to install openssl-1.0.2
https://github.com/cyberbotics/webots/wiki/OpenSSL-compilation

Linux help for display: https://stackoverflow.com/questions/58208419/does-webots-have-headless-mode