Webots ChangeLog

Webots 5.9.2

• Store open text editor files in the world file and close them when closing the world
• Fixed crash when starting the Nao Robocup contest from the startup window
• Fixed error in collision detection when Solid node has Group boundingObject and no Physics node
• Fixed systematical crash of --batch mode since version 5.9.0 (Linux)
• Fixed another bug in robot_get_time() function for asynchronous controllers
• Added differential_wheels_set_encoders() function for the e-puck in the remote-control mode (firmware updated)
• For Robotstadium contest:
  • Added "kick-off shot cannot score a goal" rule enforced by simulation Supervisor
  • Added automatic "throw-in" by Supervisor when the ball leaves the field's limits (white lines)
  • Moved physical field limits (boundingObjects) 1 meter back
  • Changed menu item "Follow Robot" to "Follow Object": now the view point can also follow passive objects like the ball

Webots 5.9.1

• Fixed bug with robot_get_time() and asynchronous controllers
• Merged nao*_urbi.wbt with nao*.wbt, also robotstadium_urbi.wbt with robotstadium.wbt
• Upgraded to URBI for Webots version 1.5.4 rev. 2e80a3e
• Fixed problem with missing "-*-helvetica-medium-r-*-*-12-*-*-*-*-*-*-*" font under Linux
• Fixed crash when adding CoordIndex values in a new IndexedFaceSet from the scene tree window
• Fixed the cross-compilation of the e-puck controllers under Windows
• Slightly changed the compilation system and menus of the text editor:
• Added new "Compile" menu item to compile a single source file (instead of whole project)
• Added "Compile", "Clean", "Cross-compile clean" and "Replace..." buttons in the tool bar of the text editor
• Improved handling of projects with directories containing both C/C++ and Java source files
• Improved: it's no longer needed to maintain a list of Java source files in the Makefile
• Fixed: Webots does no longer build .d files (dependencies) for Java projects
• Added new "Make JAR file" menu to create JAR files for submission to online contests
• Fixed: missing .class files (for internal classes) in generated JAR files
• Added prototypes of the complete Java controller API to Reference Manual
• Added functions: connector_disable_presence(), gripper_disable_resistivity(), gripper_disable_position() and servo_disable_motor_force_feedback() for symmetry with existing "enable()" functions
• Fixed assertion failure when supervisor_field_get() is called with parameter ms=0, for disabling a request
• For Robotstadium contest:
  • Added Cracoucass's Java controller example for the Robotstadium online competition
  • Added simple RoboCup-like Game Controller in order to keep robots informed of the current game state: score, kickoff team, remaining time, etc.
  • Fixed bug in Robotstadium/Nao worlds: ball does not slow down if Webots runs on a single core CPU
• Fixed crash when trying to open an unreadable world file

Webots 5.9.0

• Fixed minor glitches in video recording caused by mouse-manipulations before the recording is started by pressing the "Run" button
• Fixed: Webots freezes if a controller has returned from the main() function and then the user hits "Revert" or "Quit" (Windows only)
• Added multithreaded simulation engine for all "nao" and "robotstadium" worlds (important speedup on multi-core CPUs)
• Added hard-coded drag force that slows down the ball's rolling motion in "nao" and "robotstadium" worlds
• Fixed wrong hip structure, mass distribution, foot shape and eye LEDs of Nao to reflect the new model (Robocup edition)
• Fixed bug with remote control of the motor wheels of the Khepera III
• Fixed bug that sometimes caused Webots to delete dJointFeedback structures registered by the user in the physics plugin
• Added possibility to select a Solid node within a robot with a mouse click on the 3d model
• Changed viewpoint rotation center: it is now easier to take a close look at objects
• Fixed problem that made the Guided Tour crash when quickly pushing the [Next] or [Previous] button
• Added Java interface (in Controller.java) for 15 functions that were previously only accessible from C/C++
• Fixed display of the BotStudio, e-puck and Khepera windows under Mac OS X
• Fixed Rat's life moving camera
• Fixed the bug causing that nodes could only be added at the top of a Group or Transform boundingObject
• Fixed systematic crash when a geometrical node (Box, Cylinder, Sphere, etc) is added to a Group boundingObject and then mouse-clicked

Webots 5.8.0

• Fixed bug with libController.dll and libjpeg (Windows)
• Updated to URBI 1.5.4
• Fixed bug with firmware upload from BotStudio under Windows and Mac OS X
• Deprecated emitter_send(), emitter_get_buffer() and receiver_get_buffer() functions
• Fixed behavior of "Add a node" dialog: now it correctly adds USE references to the closest DEF node with the given name preceeding it
• Fixed bug in USE/DEF referencing in .wva files (e.g. causing wrong color in recorded Nao simulation)
• Fixed several bugs that prevented the recording of .wva animations to work with worlds containing proto instances
• Adapted "packet size" to allow the recording of .wva animations of more complex worlds
• Modified the soccer field of the Nao Robocup simulation so that it better matches the real setup
• Fixed a problem that sometimes caused invalid USE/DEF references after a sequence of copy/paste/delete of nodes
• Fixed bug when IndexedFaceSet has a coordIndex with three values and no final -1
• Fixed minor bug (sign of right encoder value) in e-puck firmware and released version 1.3.1
• Fixed bug in the e-puck Bluetooth connexion
• Fixed rare crash or hang under Linux x86-64 with multi-core processors
• Fixed problems when WEBOTS_HOME indicates a directory different from where webots executable is invoked
• Reworked MPEG-1 and MPEG-4 movie creation with quality parameter made available
• Added supervisor_start_movie() and supervisor_stop_movie() functions
• Linux and Mac OS X: made MPEG-4 creation faster by using TGA images
• Mac OS X: added MPEG-4 movie capability
• Added possibility to add prototypes (PROTO) with the Scene Tree ("Add a node" dialog)
• Added Khepera III proto and several simple proto examples
• Improved error reporting and general stability of VRML parser

Webots 5.7.3

• Fixed automatic CLASSPATH generation for Java controllers
• Added initial dialog box to choose between guided tour and contest worlds
• Fixed Nao model for Robocup setup
• Fixed Makefile.include causing a syntax error under some Windows configurations

Webots 5.7.2

• Added accelerometer in Rat's Life
• Added linear camera device in Botstudio for e-puck
• Added support for e-puck accelerometer
• Added e-puck cross-compilation capability
• Added robot_get_basic_time_step() function
• Added robot_get_synchronization() function
• Added robot_get_project_path() function
• Fixed contest worlds sometimes opening with evaluation version message
• Fixed e-puck / Botstudio crash on Windows
• Fixed Hemisson / Botstudio file problem when saving a new graph
• Fixed Nao Robocup simulations
• Fixed URBI demos
• Fixed Shrimp example

Webots 5.7.1

• Fixed occasional crash when deleting a PointLight using the Scene Tree (Windows)
• Fixed wrong signs and invalid coordinate system reference in values returned by Accelerometer nodes
• Fixed missing robot_get_mode() method in Java under Windows causing ratslife.wbt to fail
• Removed annoying error message "Can not enumerate files in directory ..." in Webots Evaluation Version (Windows)
• Fixed bug with camera range-finder images rendered in the Webots main window
• New Linux i386 and amd64 deb packages
• Fixed crash in batch mode with some OpenGL drivers
• Added possibility of viewing contact points (collision detection)

Webots 5.7.0

• Added Aldebaran Robotics' Nao humanoid robot model with RoboCup field
• Fixed batch mode crash because of the display of a license warning
• Added a provision on the first law of Asimov in the license agreement
• Added a model of the iCub robot (RobotCub Consortium)
• Fixed bug with Webots camera rendering with high resolutions
• Proofread the whole Reference Manual
• Fixed "Paste" and "Paste after" buttons behavior (Scene Tree), in order to prevent the user from building unsupported node relationships
• Fixed camera_save_image() for Java controllers
• Fixed bug in the controller API with camera_move_window() and Webots rendered cameras
• Fixed display of pixel RGB color display for cameras associated with Java controllers
• Improved font scaling for supervisor labels
• Added experimental Camera.antiAliasing and Camera.gaussianNoise fields
• Compiled with wxWidgets-2.8.7
• Set smooth rendering for lines
• Fixed compilation of controllers and physics library under Windows Vista
• Added snap effect on mouse motion for assembling Connectors precisely
• Added possibility to rotate the selected object about any of its x, y, or z-axis using Shift key and right mouse button
• Fixed optimization bug with Webots rendered camera images
• Fixed bug with real e-puck camera feedback and Java controller
• Fixed auto completion in text editor for robot_console_print() in Java
• Added missing robot_get_mode() method to the Java API
• Fixed GUI bug with camera windows initially touching the edge of the main view
• Fixed camera window pixel color display for Java controlled robot camera
• Added a gradual parameter for the Charger and the LED nodes
• Added missing DLLs for URBI
• Fixed typo in accelerometer_get_values() of the Java controller API
• Added new 'View' menu and 'Orthographic' projection mode
• Added 'Bounding Objects' view mode
• Adapted "Makefile.include" files to allow controller (and plugin) compilation on Mac OS X 10.5 (Leopard)
• Fixed MPEG movie creation for Mac OS X 10.5 (Leopard)

Webots 5.6.0

• Added an Accelerometer node
• Added MPEG-4 movie encoding for Linux (requires mencoder)
• Added prototype of sound simulation
• Improved the quality of the displayed text labels
• Display text labels on the top of camera windows
• Fixed crash on Linux 64 with XEON dual dualcore
• Fixed the refresh of the 3D display when the main window is maximized under Linux
• Fixed two possible causes of crash when supervisor_simulation_revert() or supervisor_simulation_quit() are used in --batch mode
• Fixed bug with filename while exporting a Webots animation
• Added visible rotation/translation axes for Servo nodes
• Added "Display device axes" and "Axis size" widgets in Preferences->Rendering
• Fixed unwanted passive hinge behavior between two physics-enabled Solid (or derived) nodes when one is the parent of the other
• Fixed possible crash with Webots rendering of cameras defined in a proto
• Fixed bug with BotStudio firmware upgrade under Windows

Webots 5.5.3

• Compiled with wxWidgets-2.8.6
• Added Rat's Life contest files and allowed compilation for these instead of roboka

Webots 5.5.2

• Updated the version of the URBI package to 1.04 and added Aibo ball tracking demo
• Mac OS X version doesn't crash any more after license warnings
• Updated the version of the URBI package to 1.04
• Fixed bug with built-in camera rendering and loading a new world
• Added a Simplified Chinese translation of Webots
• Fixed display of license in the about box in case of a webots.key license file
• Added Bioloids Robot Dog demo (thanks to Jean-Christophe and Tribotix)
• Fixed missing double buffer rendering with some Linux nVidia driver
• Fixed poor OpenGL rendering performance of the selected object

Webots 5.5.1

• Fixed slow controller compilation in Webots built-in editor (Windows)
• Fixed distance sensor names in e-puck.wbt
• Removed obsolete Joint nodes from urbi sample worlds

Webots 5.5.0

Warning about the Joint node and the "joint" field. In this version, the Joint node and the "joint" fields were completely removed in order to simplify the design of new robot models. The usage of the Joint node was found to be confusing, because it was often unclear if a Joint node was required or not. This version of Webots makes the appropriate decision automatically. In addition, all the instances of Joint nodes were removed from all the .wtb example in Webots distribution. When this version of Webots loads a .wbt file that contain Joint nodes it issues a error message similar to this:

Error at line 979:
Unsupported field: 'joint' for 'Servo' node

Change in the Shrimp model. The "shrimp.wbt" model was slightly modified as a consequence of the removal of the Joint node. In the previous "shrimp.wbt" model, an empty "joint" field in a Solid node used to indicate that this joint was going to be created in the physics plugin. Now the same thing is indicated by a Servo node which "type" field constains the string "none".

• Fixed sometimes not working "jump-to-error" behavior of compilation console (Mac OS X)
• Fixed wrong collision detection when boundingObject had a "Group->Shape" structure and Physics.centerOfMass/rotation had non-default values
• Fixed sometimes incomplete list of gcc error messages displayed in text editor (Windows)
• Fixed problem when updating a lserv3 dongle from Windows
• Added color-coded axis system for Connectors
• Added rupture simulation for Connectors
• Added "snap" mechanism to precisely adjust Connectors when they become "locked"
• Fixed crash when deleting spine or crossSection items of an Extrusion
• Fixed crash when saving a world for which a robot followed by the camera was deleted
• Webots rendered cameras now work properly with Java controllers
• Fixed crash when Color item of Background.skyColor is deleted
• Fixed problem when WEBOTS_HOME points to a non-existent directory
• Fixed bug with the setting of the java command in the preferences
• Added new "Add a node" dialog: now showing node descriptions and icons
• Fixed crash within IndexedLineSet when values are added to "coordIndex" field while "coord" field is NULL
• Fixed copy/paste of PROTO instances in the Scene Tree
• Can now upload a new e-puck firmware even if no previous firmware is present on the robot
• Fixed bug preventing a robot controller to read the real image from the e-puck camera in remote control mode
• Proofread whole User Guide (thanks to Nathan)
• Fixed dongle bug under Mac OS X with PowerPC processor
• Added a bounding object to the floor in new.wbt
• Fixed crash when copying/pasting an object between two different worlds
• Fixed crash when creating MPEG movies on Mac OS X
• Removed obsolete Joint node and "joint" fields.
• Fixed crash under Windows when deleting the items of a list field in the scene tree window (thanks to Tony)

Webots 5.4.0

Warning about WorldInfo.basicTimeStep. In this version, Webots checks that the controller step (the value passed to robot_step() or returned by the controller's run() function) is a multiple of the basicTimeStep. Simulations that do not meet this requirement will issue warning messages.

Warning about servo_set_force() function. In this version, the existing servo_set_force() function was renamed servo_set_motor_force(). There is now a new servo_set_force() function with a different purpose, please refer to the Reference Manual for more info. We recommend to replace any previous call to servo_set_force() by a call to servo_set_motor_force() in your controller code.

• Webots can now run on the same machine as the lserv3
• Added Robot.selfCollision field to enable intra-robot collision detection
• Fixed behavior of supervisor_set_label() which was taking into account only the first call for the same id, now takes into account only the last call (thanks to Benoît)
• Fixed defective use of the "controller" field as PROTO parameter
• Propose to adapt translation and rotation when pasting a node at the parent's level in the scene tree window to preserve abolute position and orientation
• Fixed crash when a non-existing world file name is specified on the command line (--batch mode only)
• Fixed problem with EPFL license server setting
• Added new functions for motor torque/force feedback: servo_enable_motor_force_feedback() and servo_get_motor_force_feedback()
• Added new servo_set_force() function in order to allow simplified force control of servos
• Deprecated servo_motor_off() function (use servo_set_motor_force(servo, 0) instead)
• Removed obsolete Servo fields: "customForce", "forceAndTorque" and "animation"
• Removed obsolete Servo functions: servo_set_abs_force_and_torque(), servo_set_rel_force_and_torque(), servo_run_animation(), servo_get_animation_number() and servo_get_animation_range()
• Fixed Makefile.openr in the ers-210 controller sample, so that it works with the new webots-openr package (with support for the Aibo camera)
• Uses the MAC address of the Ethernet card on Mac OS X for the ComputerID
• Fixed rounding problem in scheduler which sometimes caused physics_step() to be called too often (and eventually causes a drift in robot_get_time() with respect to the simulation time)
• Added e-puck program uploader in the Tools menu

Webots 5.3.1

• Fixed hang of demo version on Mac OS X
• Fixed bug in e-puck firmware and released version 1.1.7
• Added msgfmt under Windows and Mac for locale translation compilation

Webots 5.3.0

• Display a star (*) in the title bar of the main window when the world was modified
• Fixed bug preventing the display of the Khepera window and displaying UTF-8 warning messages in the console
• Fixed crash when "controllerArgs" exceeds 5 arguments (Java)
• Fixed crash on exit on Mac OS X
• Fixed general floating point bug on foreign locales
• Added support for dongle-based license
• Added Polish locale (thanks to Michal)
• Added support for real Aibo camera (thanks to Mjof)

Webots 5.2.0

• Added support for locales (see resources/locale/readme.txt to add your own locale)
• Added French locale
• Upgraded to wxWidgets 2.8.4
• Enabled supervisor_field_set() to change the position and orientation of the Viewpoint node
• Fixed camera flipped image when using Camera.windowPosition field
• Fixed selection unstability while the simulation is running
• Fixed incorrect DEF name when PROTOs are DEF'd
• Fixed possible crash when LightSensors are copy/pasted or used inside PROTOs
• Fixed problem with labels displayed by soccer_supervisor under Linux

Webots 5.1.14

Warning about LightSensors The lookupTable of LightSensor sometimes returned incorrect values in previous versions of Webots. This problem was fixed with this new release. As a consequence the light_sensor_get_value() function might in some situation return values different than before, therefore simulations tuned for specific return values will need to be slightly adapted to work with this version.

• Fixed problem for loading physics plugins on Mac OS X
• Reworked LightSensor model (see Reference Manual for more info):
  • Added optional occlusion detection to LightSensor model
  • Added LightSensor's sensitivity to DirectionalLight sources
  • Added "colorFilter" field to LightSensor
  • Fixed incorrect directional sensitivity of LightSensor to the ambient intensity of PointLights
  • Fixed sometimes incorrect lookupTable interpolation

Webots 5.1.13

Warning about TouchSensors If TouchSensors were used, existing robot models developped for previous releases of Webots may have to be slightly modified in order to work with this new version of Webots. The new "force" TouchSensors are unidirectional while the old ones were omnidirectional. The new "force" sensors measure the force along their z-axis, while the other axes are ignored. The modification is very simple: the TouchSensors must be reoriented such that their positive z-axes point from the body outwards, in the direction where the force need to be measured (where the collision is expected to take place). Please also note that the values returned by "bumper" sensors may also differ from those of previous Webots version because the new version returns fixed 0 or 1 while the previous version used to return the min or max values of the lookup table.

• Added Camera.windowPosition and Camera.pixelSize parameters for camera rendering in the main Webots window
• Fixed controller compilation under Windows Vista
• Fixed Webots document icon under Windows
• Fixed some communication bugs with the e-puck robot
• Fixed crash when trying to set an IndexedFaceSet plane bounding object inside a Transform node
• Fixed bug when using several cameras of different resolution on the same controller
• Fixed frozen sliders bug in BotStudio graphical programming interface
• Added KHR2-HV humanoid robot simulation from Laurent Lessieux
• Fixed and improved model of TouchSensors
• Fixed "Wizard / New Project Directory..." menu failing to create directory on Linux
• Fixed VRML 2.0 export which was exporting too many useless fields
• Fixed robot camera width and height inversion on Mac OS X
• Fixed display bug when using backslash f in robot_console_printf() to clear the console
• Fixed instability of supervisor_robot_set_controller() function

Webots 5.1.12

• Added cross-compiler for the e-puck robot
• Fixed crash on File/Open or File/Revert after changing a robot controller
• Fixed default directory on File/Open under Linux
• Added spherical camera sample code in projects/samples/howto/
• Now skip properly extra spaces in the the controllerArgs list
• Fixed discrepancy between the value returned by the robot_get_time() function and the actual time displayed in the main window
• Fixed creation of Cone objects with the New Node button of the Scene Tree
• Display a warning message when attempting to use a new supervisor process with Webots EDU or STD
• Fixed bug with key codes in robot_keyboard_get_key() (now use constants)
• Check MAC address for eth0, eth1, eth2 under Linux
• Fixed bug with differential wheels encoders and physics simulation
• Fixed crash when a coordIndex is smaller than -1 (IndexedFaceSet)
• Fixed instability of Emitter/Receiver on some Linux platforms
• Fixed a rare rounding problem with some small time steps (below 1 ms)
• Fixed bad default directory for "File/Open..." and "File/Save As..." menus
• Added DifferentialWheels.maxForce parameter
• Fixed sporadic crash when calling robot_console_printf()
• Fixed bug with light sensors and non white light sources
• Fixed hang on Mac OS X / Intel while compiling a controller
• Fixed crash when supervisor_field_set() is applied to a not found node

Webots 5.1.11

• Made EDU and STD licenses platform independent
• Added BotStudio graphical programming for the e-puck robot with remote control capability
• Fixed crash after compilation from the IDE on Mac OS X
• Upgraded to wxWidgets 2.8.0
• Fixed floating rounding problem causing erratic physics simulation when the time step was smaller than 1 (thanks to Lorenzo)
• Fixed performance problem when moving editor's slider on Mac OS X
• Fixed crash with illegal instruction on Athlon processors under Linux
• Fixed very slow camera windows rendering on Mac OS X
• Added Surveyor SVR-1 robot model and programming interface
• Fixed movie creation on Mac OS X Pentium (new universal binary for mpeg2enc)
• Fixed viewpoint instabitily when Viewpoint.rotation is 1 0 0 6.28
• System.out and System.err in Java controllers are now redirected to the Webots log window to facilitate debug

Webots 5.1.10

• Added target_coordinate supervisor for the IPR robot to display the coordinates of a target point (red ball in ipr_cube.wbt)
• Fixed non-working jump-to-error functionality in compilation console (Mac OS X)
• Reworked menus to make them more consistent on multiple platforms, especially Mac OS X
• Fixed bug in Bluetooth binary communication with the e-puck under Linux
• Made the ipr_serial controller synchronous to avoid hangs due to the scheduler of the operating system
• Fixed dependency of libController on glib-2.6 under Linux, now works with glib-2.4 as well
• camera_save_image() now saves a black and white image if the camera is black and white
• Optimized movie creation on Mac OS X / Intel (compiled mjpegtools as Universal Binary)
• Changed Emitter/Receiver internal code to packet-based communication and added new API functions: emitter_send_packet(), emitter_set_range(), emitter_get_range(), receiver_get_queue_length(), receiver_next_packet() and receiver_get_data_size()
• Fixed memory leak on Revert (button) and supervisor_simulation_revert() function
• Added Cylinder.subdivision field to tune the tesselation of Cylinder
• Added a guided tour in the Help menu
• Fixed simulation hang occuring on Linux under special circumstances

Webots 5.1.9

• Fixed inconsistancy in the GUI when using the --mode command line option
• Changes of controller in the scene tree window take effect immediatly
• Fixed supervisor_import_node()
• Fixed supervisor_set_controller() under Linux and Mac OS X
• Added mjpegtools in the Linux version of Webots
• Fixed hang in the termination of controllers under Linux and Mac OS X
• Fixed bug with non-convex extrusions corrupting OpenGL tesselator state
• Many improvements and bug fixes in the provided examples
• Fixed crash with supervisor_simulation_physics_reset()
• Fixed bug with Physics.centerOfMass and boundingObject
• Fixed reset of robots' position and orientation in soccer.wbt demo
• Don't save a crashing world file as the default file in the preferences (Windows)
• Fixed crash when clicking in the main window during the AVI dialog (Windows only)
• Fixed e-puck window behavior when e-puck robot has no camera
• Fixed search path for textures in libController
• Fixed missing support for creaseAngle in Extrusion node in libController
• Fixed 2 bugs in the creation and playback of .wva files (File/Make Animation)
• Added new API functions: receiver_get_signal_strength(), receiver_get_emitter_direction(), receiver_get_channel() and receiver_set_channel()
• Added obstacle detection and aperture fields for "infra-red" Emitter/Receiver
• Added support for compilation of physics plugin from the Webots IDE
• Reorganized the user guide
• Improved the wizards
• Rearranged sample files (worlds, controllers, physics plugins, etc.) in the projects folder
• Linux MAC address reading not tied anymore to "eth0"
• Set default values for Emitter.baudrate, Receiver.baudRate and Emitter.range to -1
• robot_console_printf() can now clear the console with the '\f' character
• Added confirmation dialog before saving a world
• Remove *.exe_webots, *.dll_webots, *.o, *.d and webots.log after uninstallation on Windows
• Added display of light sensor range
• Fixed and improved robot_keyboard_get_key(), now takes into account shift, control and alt modifiers
• Added auto-completion feature in the text editor
• Syntax highlight is now language (C/C++/Java) dependent in the text editor
• Added Shrimp demo (thanks to Simon)
• Fixed bug with two-color ElevationGrid and robot camera
• Export node in the scene tree window now automatically adds the .wbt extension if missing
• Fixed supervisor_export_image(): now supports .jpeg extension and save in the supervisor controller directory
• Allow to select and edit physics libraries from the scene tree window
• Added webots_physics_predraw() function in the physics library API
• Added e-puck chapter in the user guide
• Added yamor.wbt world demonstrating the Connector node
• Fixed bug with cameras update introduced in 5.1.8
• Infra-red distance sensors now use red level of bounding objects rather than actual object
• Nodes are now sorted alphabetically in the scene tree dialog for creating new nodes

Webots 5.1.8

• Added new Connector nodes for modular robotics (thanks to Yvan)
• Added a custom Java command in the preferences, allowing to pass extra Java options to the JVM or to choose to use java.exe instead of javaw.exe
• Added camera_move_window() function
• Fixed the camera viewpoint jump when selecting Robot View menu item
• Now ElevationGrids with only two colors draw a chess board with these two colors (thanks to Simon)
• Fixed problem with ElevationGrid not appearing in the scene tree window on creation of a new node (thanks to Simon)
• The dialog offering to create a user directory now displays only once after a new installation of Webots.
• User directory is set automatically upon opening a world (thanks to Yvan)
• Fixed bug with robot_console_printf (thanks to Yvan)
• Fixed display of Box node when appearance is NULL (thanks to Simon)
• Added support for the IPR (Katana) robot arm from Neuronics (thanks to Simon)
• Bluetooth remote control for the e-puck robot on Mac OS X
• Automatically finds serial ports under Mac OS X
• Native support for Intel-based Macs (universal binary built)
• Added camera support for the e-puck robot
• Fixed bug on Windows when several cameras are set to display FALSE (thanks to Richard)
• Fixed Visual Studio project for sample physics library (thanks to Sung-Hee)
• Fixed Aibo remote control and Aibo chapter in user guide (thanks to Mjof)
• Fixed viewpoint jumping to nan position after mouse move when Viewpoint.orientation angle was 0 (thanks to Simon)
• Added camera_get_near() and camera_get_far() to the Java API (thanks to Richard)

Webots 5.1.7

• Add a startup option to choose the startup mode (stop, run or fast)
• Fixed bug with keyboard reading and modifier keys
• Added new roboka worlds and a supervisor allowing to set initial position
• Moving objects while physics simulation is running doesn't break joints any more (thanks to Yvan)
• Don't save position of iconified windows in world files
• Uninstall removes the Webots registry entry under Windows
• Fixed possible hang when displaying Servo warning messages (thanks to Simon)
• Fixed cross-compilation problem with khepera_gripper.c (thanks to Sylvain)
• Fixed another bug with gripper device (thanks to Fernando)
• Improved the flying_robot.wbt and sample physics library (thanks to Harun)
• Added dWebotsGetTime() in the physics library API (thanks to Jonas)
• Fixed a couple of bugs in the physics library management (thanks to Harun)
• Fixed revert in case of several instances of Webots running in parallel (thanks to Sergei)
• Added robot_get_time() function in the Controller API
• Fixed buffer overflow in Webots / controllers communication (thanks to Dennis)
• Fixed bug with physics shared library under Windows

Webots 5.1.6

• Fixed Mac OS X problem with physics shared libraries (thanks to Antoine)
• Fixed bug with Extrusion and creaseAngle affecting koala.wbt
• Off PointLight are now displayed in black
• Added reinitialization of the Webots random number generator and the ODE joints velocity and FMax in the supervisor_simulation_physics_reset() function
• Fixed rare memory leak with IndexedLineSet

Webots 5.1.5

• Fixed initialisation of random seed, so that Webots simulations are now deterministic (thanks to Yvan)
• Fixed koala.wbt which doesn't use any more non-convex Extrusion causing problems in some cases (thanks to Ankanadh)
• Attempted to fix a bug with the gripper device (thanks to Fernando and Ricardo)
• Fixed roboka.wbt allowing recompilation of Java controllers (thanks to Dominic)
• Added dWebotsConsolePrintf() in the physics library API (thanks to Harun)
• Automatic mouse control change when gravity is along the Z axis (thanks to David)
• Fixed bug with light sensors and batch mode (thanks to Nikolaus and Yvan)
• Updated the blimp_lis model and physics, now includes keyboard control (thanks to Antoine)
• Fixed problem with cylinder getting down in non-physics gripper simulations (thanks to Ricardo)
• Replaced khepera_line example with e-puck_line (thanks to Jean-Christophe)
• Fixed broken K213 feedback (thanks to Sylvain)
• Fixed rare crash when a DEF name was not found (thanks to Simon)
• Fixed bug with DistanceSensor inside a non-moving robot or supervisor
• Upgraded to Java 1.5.0 on all platforms
• Fixed shadow bug for Extrusion showing up in khepera_gripper.wbt
• Fixed occasional hang at startup under Linux (thanks to Paul)
• Fixed crash when setting a texture on the ground (thanks to Simon)
• Fixed rare bug under Windows with e-puck and light sensors (thanks to Jean-Christophe)
• Fixed Makefile.include so that all class files are compressed into the jar file (thanks to Michał)
• Linked libController with glib-1.2 to avoid undef symbols (thanks to Fabrizio)
• Fixed libpng version problem (thanks to Heng and Paul)
• Fixed bug with chargers and robots/supervisor without battery (thanks to Danny)

Webots 5.1.4

Warning: This release is not fully upward compatible with Webots 5.1.2. The change is very minor though: if your world files have Servo nodes with an acceleration field different from -1, you should multiplicate it by 10^6 or set it to -1 (for infinity).

• Built with wxWidgets 2.6.3
• Display white wireframe only for bounding objects of Solid nodes
• Fixed all Visual Studio project files (tested with Visual C++ 6.0)
• Added Visual C++ sample project for pendulum.c sample controller
• Fixed compilation problem with SERVO_INFINITY under Visual Studio
• Fixed wrong webots document icon under Windows
• Fixed warnings with roboka.wbt world
• Added Roboka1 empty controller
• Fixed bug with hoap2 worlds under Windows (thanks to Yvan)
• Attempted to fix setgid flags on directories under Linux (thanks to Alessandro)
• Replaced references to cyberboticspc1.epfl.ch by references to www.cyberbotics.com

Webots 5.1.3

• Added controllerArgs field to robot nodes to pass arguments to a controller program
• Fixed bug with supervisor_field_set() for a rotation angle in fast2D mode (thanks to Patrícia)
• Added Aibo ERS7M3 target pattern for recharge station (thanks to Austin)
• Fixed bug with Servo.acceleration which was expressed in rad/(micro s)^2 instead of rad/s^2 (thanks to Gerhard)
• Changed the way C/C++ controllers are executed under Windows (simple.exe is renamed to simple.exe_webots before it is executed)
• Fixed Roboka0.java so that it now works on Mac OS X as well
• Added supervisor_export_image() and supervisor_import_node() in the Java API
• Fixed bug causing crash of aibo_ers7.wbt under Mac OS X after 20 seconds of simulation
• Fixed bug causing crash in with Charger node (thanks to Joakim)
• Improved text editor with multiple buffers, printing, find/replace, etc. (thanks to Yvan)
• New gps_euler() function contributed by Hannes Winlekmann

Webots 5.1.2

• Fixed collision detection bug with cylinder object in khepera_gripper.wbt (thanks to Ricardo)
• Added SUPERVISOR_FIELD_ constants in the Java API (thanks to Harm)
• Fixed Mac OS X version failing at launch
• Fixed Memory leak causing physics simulation to behave strangely

Webots 5.1.1

• Attempted to improve the highest quality of MPEG movies generated under Linux and Mac OS X
• Fixed LED update in robot camera views
• Fixed bug with robot_console_printf() under Windows (thanks to Stevie)
• Fixed bug with Mac OS X and multiple license webots.key file (thanks to Fernando)
• Fixed bug with SFString parsing/saving and backslash characters (thanks to Matthew)
• Fixed problems with accented chars in text editor under some Linux distributions (thanks to Yvan)
• Linux movie script can now use other terminal applications than xterm
• Added a new demo with linear servos: gantry.wbt (thanks to Yvan)
• Fixed bug with shadows affecting the e-puck.wbt world
• Improved the aibo_ers7.wbt model (thanks to Ricardo)
• Implemented remote control support for the e-puck (via bluetooth)
• Improved the e-puck model and robot window
• Save robot windows position, size and visibility in .wbt files
• Fixed bug with USE/DEF and DistanceSensor (thanks to Jim and Yvan)
• Added a Preferences option to display the camera frustums
• Fixed viewpoint screw up under Windows after Open or Import VRML 2.0
• Fixed plugins/physics/physics.c so that it works with C++ as well (thanks to Antoine)

Webots 5.1.0

Warning: This release is not fully upward compatible with Webots 5.0.10. The change is very minor though: if your world files have Servo nodes with a rotation angle different from 0, you should set it to 0 and add a Servo.position field which contains the value of this angle. Also, the physics and fast2d directories moved into a plugins directory.

• Moved physics and fast2d directories into a plugins directory
• Display camera frustum when a camera is selected (thanks to Sven)
• No longer rewrite default preferences after installing a new version
• Selecting of a Solid node in the scene tree window highlights this Solid node in the main window (thanks to Jimmy)
• Added linear servos and improved rotational servos (thanks to Yvan)
• Fixed memory leak in the log window (thanks to Yvan)
• Fixed warning message when failing to load a physics library (thanks to Jonas)
• Added a webots_physics_draw() function example in sample.c (thanks to Jonas)
• Added Makefile.openr in ers210 controller (thanks to Tony)
• Removed broken and useless MPEG-2 encoding
• Fixed the Webots document icons under Windows (thanks to Matthew)
• Fixed rotation vector switch in physics simulations
• Fixed crash with empty ImageTexture and robot camera (thanks to Matthew)
• Added Enki fast2d plugin for Mac OS X (thanks to Simon)
• Fixed DirectionalLight rendering in libController (thanks to Yvan and Paolo)

Webots 5.0.10

• Fixed Help/Register menu not working under Mac OS X (thanks to Valérie)
• Fixed bug with distance sensors in fast2d mode (thanks to Yvan)
• Fixed bug with ghost robots (passing through each other)
• Added a Visual C++ project for the sample.dll physics library
• Display a warning when using an unsupported boundingObject in fast2d mode
• Fixed bug introduced in Webots 5.0.9 disabling collision detection between robots (thanks to Simon)
• Documented the robot_get_name() function (thanks to Simon)
• Display a warning in log window when trying to run a newly compiled controller with evaluation version
• Added e-puck robot in e-puck.wbt (thanks to Francesco, Michael and Jim)
• Fixed screenshot save problem under Linux (thanks to Jimmy)
• Added a hidden inkEvaporation feature (thanks to Simon)
• Added fast2d.h include file (thanks to Simon)

Webots 5.0.9

• Fixed camera_save_image() with JPEG format under Windows (thanks to Edgar)
• Fixed hang under Windows after loading or reverting
• Fixed MTN path in the Aibo control panel
• Fixed bug with DistanceSensor and infra-red factor
• Changed shape used by Pen device from square to disk (thanks to Simon)
• Fixed bug with DEF/USE DistanceSensor (thanks to Jim and Yvan)
• Disable insertion of a device node inside a Transform ou Group node in the scene tree window.
• Display a warning when a Solid or a device node is found as a children of a Group or Transform node.

Webots 5.0.8

• Created a multiplatform binary server for Aibos ERS7/ERS210 (thanks to Ricardo)
• Aibo ERS7 can now play MTN file with cross-compilation (thanks to Ricardo)
• Fixed bug with pen_write() and Pen.write (thanks to Simon)
• Fixed bugs with servo feedback (thanks to Yvan)
• Fixed bug causing crash with Charger node
• Fixed soccer_supervisor to handle rotation axis inversion (thanks to Thomas)
• Fixed mur.bsg BotStudio/Hemisson program (thanks to Samir)
• Fixed the prototype for the mtn_play function which returns void
• When no extension is provided to Save as, add the .wbt extension (thanks to Hugo)
• Reworked the Aibo window
• Fixed a couple of problems with DEF names in the scene tree window
• Added some explanations in the user guide on how to connect a Webots controller with the Matlab C interface (thanks to Mark)
• Fixed ground sensors in botstudio_*.wbt and hemisson_cross_compilation.wbt
• Removed accented chars from botstudio graphs
• Fixed sensor name in rover.wbt
• Fixed the two following problems in the scene tree window (thanks to Yvan):
  • Each selection of a field in the scene tree using (mouse or keyboard navigation) causes the whole world to be preprocessed unecessarily, sometimes causing problems when the user wants to read a value without changing it.
  • When editing a float, int, vector or rotation field in the scene tree, each click on one of the two spin buttons triggers 3 preprocessing of the whole world while only one is necessary.
  • Added Animation node in the list poping up for the Servo animation field.
• Display a warning on the console when a device name is not found (probably mispelled) by a controller program (thanks to Jonas)
• Added installation instructions for URBI in the user guide
• Fixed compilation issues from the built-in editor in Windows (thanks to Stephen)
• Added fast2d/enki shared libs in the Linux and Windows versions (thanks to Jim)
• Distributing URBI for Webots as an optional Linux tarball (thanks to Matthieu)
• Fixed rare Windows crash due to multithreading sync (thanks to Sven)
• Fixed robot_keyboard support from the Java API (thanks to Matei)
• Fixed reference to botstudio_pen.wbt in the reference manual (thanks to Simon)
• Fixed bug with different time steps in controllers and world (thanks to Simon)
• Fixed a few glitches for the make output in the text editor console
• Made botsutdio_*.wbt world files run real time (thanks to Samir)

Webots 5.0.7

• Fixed flickering in Khepera window under Windows
• Added support for URBI script language (thanks to Anthony and Jean-Christophe)
• Fixed bug with DEF names selection in the scene tree window (thanks to Yvan)
• Allowed infinite coulombFriction in Physics (by setting it to -1)
• Changed default value from 0 to 1 for coulomFriction in Physics (thanks to Yvan)
• Fixed problem with demo supervisors and Webots STD (thanks to Malachy)
• Display warning if a solid has no bounding object and no mass defined (thanks to Yvan)
• Updated user guide on robot_run function usage
• Improved documentation on encoders in reference manual (thanks to Jim)
• Upgraded GUI to wxWidgets 2.6.2
• Mac OS: fixed text strings bug in the scene tree window (thanks to Simon)
• Fixed bug with supervisor tracking and fast2d mode (thanks to Nikolaus and Yvan)
• Added inverted double pendulum example: pendulum.wbt
• Added DV (PAL/NTSC) resolutions for movie creation
• Fixed robot_console_print in Java API under Windows (thanks to Jose)
• Don't open a DOS console any more for Java controllers
• Fixed bug with camera update and creation of new objects
• Fixed warning in libController for WorldInfo fields
• Fixed collision bug with Supervisor or CustomRobot without physics
• Fixed copy/paste of the Camera node in the scene tree window
• Fixed controller change bug in the scene tree window (thanks to Lewis)
• Fixed possible memory leak with textured IndexedFaceSet (thanks to Yvan)
• Fixed robot.h include for for compilation with Visual C++ (thanks to Anna)
• Display a warning if servo velocity and force exceeds limits (thanks to Auke)
• New Fast2D chapter in user guide (thanks to Yvan)
• Fixed a few memory leaks (thanks to Yvan)
• Change to the local physics library directory before calling webots_physics_init (thanks to Fabrice)
• Fixed the documentation of the robot_run function (thanks to Auke)
• Fixed documentation on communication between controllers and physics shared library (thanks to Fabrice)
• Fixed compilation problem with Visual C++ (thanks to Anna and Leonard)
• Fixed wrong display of month in the about box (thanks to Anthony)

Webots 5.0.6

• Fixed display of distance sensor rays (thanks to Yvan)
• Fixed wrong text control behavior in the scene tree window (thanks to Yvan)
• Set the PDF and HTML helpers as background processes under Linux (thanks to Yvan)
• Added documentation for the TouchSensor node (thanks to José)
• Fixed force sensor lookupTable in hoap2_sumo.wbt example world

Webots 5.0.5

• Fixed bug with robot_console_printf (thanks to Hugo)
• Fixed opening of text editor window under Windows
• Fixed calibration of Khepera gripper for remote control and cross-compilation
• Bug fixes with distance sensor node and multiple rays (thanks to Yvan)
• Mac and Linux: show MPEG movies after creation.
• The TouchSensor now takes into account the lookupTable for force measurements
• Added PDF versions of the user guide and reference manual in the Help menu
• Linux: HTML and PDF helpers are now based on /etc/mailcap (thanks to Christopher)
• Added editor font selection in the general preferences (thanks to Christopher)
• Fixed binocular.wbt sample of Mac OS X
• Fixed automatic path to WEBOTS_HOME
• Moved basicTimeStep, displayRefresh and runRealTime from Preferences to WorldInfo
• Improved file open from finder in Mac OS X
• Added mjpegtools on Mac OS X distribution for MPEG movie creation
• Wizard now create also a fast2d subdirectory in the user directory
• Display a warning when about to save a world where physics has run
• Fixed multiple rays distance sensor bugs (thanks to Annelyse and Yvan)
• Fixed bug in the text editor when using several files (thanks to Yvan)
• Added soujourner.wbt example (thanks to Nicolas)
• Removed dependency on libtiff for linux (thanks to Julien)
• Fixed encoders with DifferentialWheels with physics
• Added cable.wbt sample world (thanks to Lledó)
• Fixed compilation under Windows (thanks to Alexander)
• Fixed controllers list in the scene tree (thanks to Alexander)
• Fixed cancel button in the first dialog of the controller wizard
• Added robot_console_printf() function
• Fixed problem with supervisor_node_was_found() in the Java API
• Fixed build of new physics shared libs on Mac OS X
• Fixed automatic dependencies build for physics shared libraries

Webots 5.0.4

• Added an introduction in the API chapter of the reference manual about Java programming and other issues (thanks to José and Paul)
• Batch mode without display working under Linux (thanks to Jim)
• Added servo_set_control_p() function (thanks to Gabriel)
• Fixed build of automatic dependencies in the Makefile.include (thanks to Julien)
• Fixed mass distribution for Aibo models
• Fixed bug with boundingObject and cameras
• Fixed font to modern in Mac OS X text editor
• Updated the Webots 5 icons
• Skip VMware MAC addresses (thanks to Patrick)
• Uses wxWindows 2.6.1 (with GTK 2 under Linux)
• Added supervisor_node_was_found() in the Java API (thanks to Paul)
• Fixed TCP/IP live mode for Webview
• Fixed TouchSensor bug (thanks to Mark)
• Many IDE improvements (thanks to Yvan)
  • New "Find..." and "Goto line..." dialogs
  • TAB now works and indents with spaces
  • Fixed editor busy wait loop while compiling that was taking too much CPU
  • All the shortcut (Ctrl-) keys now work in the editor
  • The editor has now menus
  • A clock pointer appears while compiling (Windows version only)
  • Fixed bug: recompile even when file was not modified
  • Brace maching works now
• The virtual time is now stored as a double in ms (lasts longer)
• The basic simulation step is a floating point value (thanks to Jonas)
• Fixed robot synchronization bug
• Optimized time step and robot step scheduling
• Updated sample physics library, flying_robot world and controller
• The physics library can now communicate with controllers (see sample)
• Emitter.range may be infinite when set to -1
• Emitter.baudRate may be infinite when set to -1
• DistanceSensor now may use several ray castings (thanks to Yvan)
• Added the 2D simulation mode as an external plugin (thanks to Yvan)

Webots 5.0.3

• Added preliminary force sensors in hoap2_sumo.wbt (Thanks to Rawichote)
• Fixed controller crash at exit with disabled camera (thanks to Annelyse)
• New images in the control window of the Aibo ERS-7 (thanks to Ricardo)

Webots 5.0.2

• Fixed the compilation from the built-in IDE (thanks to Yvan)
• Added khepera_line world and controller (thanks to Jean-Christophe)
• Fixed hours counting which was reset after 1193 hours (thanks to Jim)
• Simplified khepera_gripper.c source code (thanks to Aleksandar)
• Added Fujitsu Hoap-2 model: hoap2.wbt (thanks to Pascal)
• Fixed CPU usage in STOP mode for Linux and Windows (thanks to Stefan)
• Added Physics.centerOfMass and Physics.orientation fields (thanks to Pascal)
• Fixed small selection bug
• Limited allowed files to be saved by competitors for the Roboka contest (log.txt and memory.dat)
• Fixed rare bug with repeated calls to supervisor_node_get_from_def (thanks to Christian)
• Fixed problem with the license check of the EPFL license server (thanks to Julien)
• Fixed camera_range_image_get_value() macro with non default near/far parameters (thanks to Yizhen)
• Added camera_get_near() and camera_get_far() functions.
• Fixed bug with range-finders occuring on buggy ATI Linux drivers.
• Added a warning when trying to import wrong VRML files (thanks to Amanda and Ludovic)
• Fixed horizontal field of view in Camera and Viewpoint (thanks to Stefan)

Version 5.0.1

• Fixed saved windows sizes under Linux
• Fixed DirectionalLight orientation in sample worlds
• Fixed speed problem on Mac OS X
• Fixed jump to error under Windows in source code editor (thanks to Yvan)
• Hopefully fixed hang bug (occuring rarely under Linux)
• Fixed EPFL license check under Windows
• Fixed Computer ID check under Windows
• Opens the first controller of the scene tree when poping up the editor window
• Added a star (*) to mark a modified file in the title bar of the editor window
• Fixed text editor opening from the window menu
• Fixed windows titles
• Changed the window layout of the default.wbt world
• Added the Webots icon to the text editor window
• Fixed registration dialog (add trial option on www/registration/webots)
• Fixed evaluation message in about box (add www/registration/webots/trial)

Version 5.0.0

• Added Camera.near and Camera.far parameters (thanks to Yizhen)
• Fast mode now overrides real time preference (thanks to Jonas)
• Fixed crash with basic step < 1 (thanks to Jonas)
• Fixed Viewpoint.near/far warning in libController (thanks to Yizhen)
• Added a compilation button in the text editor window (thanks to Yvan)
• Added simple shadows (thanks to Yvan)
• Improved VRML97 import for Pro E: ignore PROTO and convert Anchor to Group (thanks to Francesco)
• Several rectangle ground textures made up of two triangles each can be seen by IR distance sensors, see modified rover.wbt (thanks to Rainer Paine)
• Pen device can now write on several ground textures
• Use servo sliders in the default robot window
• Fixed movie sizes under Linux and increased proposed movie sizes
• Fixed bug with IndexedFaceSet and distance sensors (thanks to Sergei)
• Fixed collision of two differential wheel robots without physics (thanks to Nikolaus)
• Added LED control in the khepera.c sample (thanks to Simon)
• Fixed sphere lighting (thanks to Sergei)
• Fixed AVI dialog crash (thanks to Nicolas)
• Fixed wrong small movie size
• Fixed popup of generic robot window (thanks to Pascal)
• Documented the Gripper node in the reference manual (thanks to Jaeho)
• Fixed servo_motor_off (thanks to Ludovic and Mehdi)
• Fixed default synchronization of Supervisor to TRUE
• Fixed light sensors seeing lights switched off (thanks to Nikolaus)
• Fixed user guide references to the Preferences menu (thanks to Ricardo)
• Fixed the distance sensor response when moving the robot with the mouse (thanks to Murray)

Version 4.0.26

• Display rotation axis for Joint nodes (thanks to Auke)
• Added Physics.orientation field (thanks to Pascal)
• Added support for Aibo ERS-7 (thanks to Sergei)
• Fixed color bug with some Extrusion nodes (thanks to Pascal)
• Fixed color bug with scaled objects (thanks to Nikolaus and Annelyse)
• Fixed receiver_get_x/y/z yet-undocumented functions (thanks to Jim)
• Fixed bug on UNIX with spaces in directory names (thanks to Chris)
• Improved VRML97 import feature (thanks to many people who sent me VRML97 samples)
• Added near and far parameters to the Viewpoint node (thanks to Régis)
• Fixed buffer overflow problem in executable test under Windows
• Fixed path to upload the Aibo binary files (thanks to Lukas)
• Fixed bug when a directory called webots was in the unix PATH
• Removed bboxCenter and bboxSize from Group and inherited nodes
• Try to open also webots.key.txt and license.srv.txt (thanks to Chris)
• Added physics shared library support on Mac OS X (thanks to Daniel)
• Fixed bug on Windows with -SERVO_INFINITY (thanks to Nicolas)
• Fixed bug on Windows when quitting Webots while iconified (thanks to Nicolas)
• Fixed bug with multiple network cards on Mac OS X (thanks to Daniel)
• Fixed crash when the license server is not available (thanks to Alessandro)
• Added support for COM5,COM6,COM7,COM8 serial ports (thanks to Nitin)
• Swapped default file name and user path in the preferences (thanks to Christopher)
• No need to copy the new.wbt file in the user world directory (thanks to Sergei)
• Fixed simulation hang due to robot window display (thanks to Lukas)
• Fixed physics/Makefile.include to use local ODE include files (thanks to Lucien)
• Fixed MTN playback with variable number of interpolation frames (thanks to Sergei)
• Better error messages while parsing world files (thanks to Sergei)
• Fixed servo limits handling (thanks to Sergei)
• Uses jar files if any in the controllers' directory (thanks to José)

Version 4.0.25

• Fixed "missing ode.dll" bug with Windows (thanks to Robert)
• Fixed "could not unregister class" bug with Windows (thanks to Robert)
• Fixed revert crash under Windows (thanks to Robert)
• Fixed occasional revert freeze under Linux
• Fixed bug with real Khepera and Emitter device (thanks to Nitin)
• Fixed bug with dWebotsGetGeomFromDEF and empty children list (thanks to Alessandro)
• Don't display empty robot windows
• Reviewed the Webots User Guide (thanks to Sergei)
• Added standard video sizes for movie creation
• Fixed text fields not always updating the scene tree and scene
• Reverted to GTK+1.2 (Linux): better stability and working mouse wheel
• Removed endless popup windows in case of some SEGV crash
• Fixed crash with wrong gripper definition (thanks to Alex)
• The speedometer now display 3 digits (could show x800!)

Version 4.0.24

• Added a simple text editor for controllers
• Upgraded Webots GUI to GTK+2 (Linux)
• Added random seed reset in supervisor_simulation_physics_reset (thanks to Yvan)
• Fixed crash with empty Coordinate node in a boundingObject (thanks to Dominik)
• Scan all MAC addresses under Windows (thanks to Chris)
• Fixed ODE stack overflow with large physics-based models
• Fixed creation of shapes in 2D modes (thanks to Yizhen)

Version 4.0.23

• Added support for cylinders in 2D mode (thanks to Yizhen)
• Added a translation field to the Joint node (thanks to Yvan)
• Fixed the insertion of a Solid node at the root level
• Changed the WorldInfo gravity field to a 3D vector (thanks to Yariv)
• Added mtn_* functions for servo motion playback (thanks to Lukas)
• Fixed MPEG save directory (thanks to Lucien and Nikolaus)
• Fixed bug in dWebotsGetGeomFromDEF() (thanks to Yariv)
• Introduced robot_run function to replace robot_step (thanks to Lukas)
• Added several MPEG-1 compression options (Linux and Mac OS X)
• Moved the Preferences... item from the File menu to the Edit menu
• Added an empty city-like world: town.wbt (misses boundingObjects)
• Fixed the expiration date of the demo version (thanks to Bothari)

Version 4.0.22

• Fixed judo.wbt world (robot hand and head bounding boxes)
• Added trimesh-based rough terrain example: aibo_ers210_rough.wbt
• Added triangle mesh collision detection (Thanks to Lluis)
• Fixed missing Solid node in scene tree window top node creation
• Fixed crash when the WorldInfo node is missing
• New world with 6 Aibos in a RoboCup soccer field: aibo_ers210_soccer.wbt
• Fixed bug with physics less servo (causing khepera_gripper.wbt to fail)
• Fixed display bug with cylinder caps in libController and webview
• Fixed controller hang caused by receiver_get_z (thanks to Jim)
• Fixed robot_keyboard_* functions under Windows
• Improved Aibo ERS-210 interface: LED, touch sensors, etc. (thanks to Lukas)
• The camera window is not any more a topmost window under Windows

Version 4.0.21

• Added robot_keyboard_ functions to read the keyboard from a controller (see controllers/koala/koala.c)
• Introduced servo acceleration for the position controller (thanks to Lukas)
• Fixed bug with servo control when minPosition=0 (thanks to Anders, Dominic, Xavier and Marton)
• Fixed Coordinate creation in boundingObject in the scene tree window (thanks to Mohammed)
• Added camera_save_image() function that support both PNG and JPEG formats (thanks to Naveen)
• Documented all the VRML97 nodes used in Webots in the reference manual (available from the ? button of the scene tree window)
• Fixed Khepera + Gripper + Camera problem with disappearing red stick
• Fixed Linux crash occuring when the LD_LIBRARAY_PATH environment variable was bigger than 256 characters (thanks to Alexandre)
• Fixed cross-compilation problem with the khepera controller (thanks to Basel)
• Disabled the insertion of a Solid, Device or Robot node at a wrong position in the scene tree window
• Fixed mouse wheel zoom under Windows
• BotStudio doesn't hang any more when the Hemisson robot is unplugged
• Fixed default world to botstudio_line.wbt for Hemisson licenses
• Improved Aibo ERS-210 model, remote control of real robot (thanks to Lukas)
• Fixed bug with endless popup message window (thanks to Pascal)
• Fixed lowercase issue with ComputerID (thanks to Nicolas)
• Added webots_physics_draw() function for custom 3D drawing from the physics library (thank to Jonas)
• Create better quality MPEG-2 movies under Linux and MacOS X by using mjpegtools (thanks to Auke and Alcherio)
• Added the SERVO_INFINITY position value to make a servo turn endless (thanks to Lucien)
• Fixed bugs with servo limits and position sign (thanks to Lukas)
• Fixed complexe boundingObject construction from the scene tree window (thanks to Lucien)
• Allow the user to insert IndexedFaceSet nodes as boundingObject in the scene tree window, should be limited to rectangles though (thanks to Lucien)
• Added a check box in BotStudio to enable or disable the RBx I/O (thanks to Rémi)
• Fixed conflict of log() function with Visual C++ (thanks to Jaeho)
• Windows uninstall clean up the registry (thanks to Yann-Aël)
• Fixed HemiOS version check in BotStudio (thanks to Rémi)
• Fixed angle problem in judo_reset_supervisor for JUDOKA_1 (thanks to Mike)

Version 4.0.20

• Fixed crash caused by the transformation of a device node to a Group node in the scene tree window
• Added the gps_euler function in the C and Java API, this is useful to simulate a compass and two inclinometers (thanks to Mike Jost)
• Added ODE include files to compile ODE shared library (thanks to Dave)
• Included the latest Hemisson firmware in controllers/botstudio
• Added RB0 input and RB6/RB7 outputs to BotStudio (thanks to Rémi)
• Added boebot.wbt demo (thanks to Sébastien)
• Added a preliminary model of Aibo ERS-7
• Added crawling, walking and swimming salamander.wbt demo (thanks to Jérôme)
• Fixed slow down bug with selection of IndexedFaceSet nodes
• Fixed the name for physics libraries which was locked to sample.dll (thanks to Alexis)
• Fixed Khepera gripper presence sensor with a real gripper (thanks to Fernando)
• Added the capability to talk with a real Khepera from a robot controller using the Khepera protocol (thanks to José)
• Fixed crash with khepera_gripper.wbt and real Khepera robots (thanks to Fernando)
• Implemented a multi-thread API in C with mutexes.
• All Webots API functions are now MT-safe for use with multi-threaded controllers
• Fixed the choice of geometry primitives in the scene tree window (thanks to Sébastien)
• Disabled OpenGL vertical sync on Windows for a much faster 3D rendering: I get a 4x performance increase on my laptop (thanks to Jean-Christophe)
• Fixed crash due to ODE stack overflow when handling complex models with physics
• Fixed issue in physics shared library with dGeomGetBody on a non-placeable geom (thanks to Jérôme)
• BotStudio 2.0.7: fixed quit without saving french message and sensors measurement display
• Fixed bug with dWebotsGetGeomFromDEF() and nested structures with servos (thanks to Jérôme)

Version 4.0.19

• Changed judo.wbt world to have a more realistic mass, set joint limits and added a tilt servo in the neck
• Added the capability to add custom physics with a shared library using ODE (Windows and Linux only)
• Added documentation on how to make accelerated movies
• Added ODE world parameters (CFM and ERP) to the WorldInfo node
• Added supervisor_simulation_physics_reset() to stop the inertia in the world (thanks to Stéphane)
• Fixed bug with distance sensors and multiple robot in 2D mode (thanks to Nikolaus)
• Fixed a memory leak with textured object removeal and camera controller
• Added documentation in the user guide on how to transfer to your own robot
• Fixed bug on some remote X display configuration (thanks to Nikolaus)
• Added documention on the floating license server in the user guide
• Fixed bug with IR distance sensors and textured IndexedFaceSet nodes
• Fixed the ground sensor values for the simulated Hemisson (thanks to Neil)
• Fixed left and right Hemisson sensors in botstudio_line.wbt and botstudio_maze.wbt (thanks to Neil)

Version 4.0.18

• Fixed bug in toolbar causing random crashes at startup
• Creates higher quality MPEG-1 movies (thanks to Auke)
• First beta version of a fast 2D simulation mode for simple setups
• Upgraded cplusplus.dev Dev-C++ project sample to Dev-C++ 4.9.8.5
• Added beta 2D simulation mode for faster simulations on very simple worlds (see khepera_fast2d.wbt example)
• Windows uninstaller erases the Webots preferences for the current user
• Added gravity parameter in the WorldInfo node
• Fixed crash when adding a texCoordIndex in an IndexedFaceSet node (thanks to Sébastien)
• Fixed crash when specifying a too big color index for a LED (thanks to Frans)
• Improved the chapter 5 of the user guide on how to setup a Visual C++ project for a Webots controller
• Reinforced socket error checking to avoid Judo contest server crashes

Version 4.0.17

• Added the capability to plug a distance sensor on a finger of a gripper, see khepera_gripper.wbt (thanks to Ming)
• Added a section in the controllers chapter of the user guide on setting up a development environment
• Fixed Mac OS X run and stop buttons (thanks to Marc and Simon)
• Wait longer (1 second) before killing a controller process (thanks to Mike)
• Removed useless include files for the C API (thanks to Grace)
• Fixed menu shortcuts on Mac OS X, Linux and Windows (thanks to Simon)
• Fixed bug on Mac OS X 10.3 (thanks to Chris)
• Fixed wrong drawing bug with the pen device (thanks to Rémi)
• The Mac OS X version is now distributed as a disk image file (.dmg)
• Fixed corrupted judo_supervisor controller
• Fixed harmless bug in libController box rendering
• Changed LED colors in judo.wbt (thanks to Frans)
• Double-clicking on world files now works on Mac OS X
• Added icons for world files on Mac OS X
• Fixed supervisor_fied_* methods in the Java API (thanks to José)
• Fixed crash of the webview server when the IP address provided is NULL
• Display Preferences/About/Quit menu items in the Mac OS X menu and Webots menus
• Fixed selection bug when the XYZ axes are displayed (thanks to Frans)

Version 4.0.16

• Fixed wrong VRML compliance with texture mapping on IndexedFaceSet
• Added supervisor functions to the Java API (thanks to José)
• Improved interactive rotation with the mouse (thanks to Simon)
• Fixed x y z character display on R G B axis for Linux and Mac OS X
• Fixed servo_get_postion return value which was always positive (thanks to many people who reported this bug)
• Fixed problems with bad USE list in the scene tree window
• Allowed PoinLight to be embedded as a children of a Solid node (thanks to Simon)
• Fixed license server problem with licenses limited in time (thanks to Simon)
• Improved cross-compilation Makefiles for the Khepera robots
• Added support for real Khepera LED (thanks to Darren)
• Webots Hemisson now works only in real time mode (thanks to Rémi)
• Fixed camera reading bug under Mac OS X (thanks to Andrew)
• Fixed collision detection bug with CustomRobot without physics (thanks to José)

Version 4.0.15

• Fixed speedUnit and axleLength for the Hemisson robot (thanks to Jean-Philippe)
• Installer sets up AUTOEXEC.BAT appropriately under Windows 98 and 95
• Fixed buffer overflow bug in emitter_send() with a large buffer (thanks to Stéphane)
• Added X-red Y-green and Z-blue axis system displaying the orientation of the world
• Added physics modelling and improved the kiki tutorial in the user guide
• Fixed a bug in the scene tree window enabling IndexedFaceSet node to be used in a boundingObject
• Fixed the new button in the Webots Hemisson distribution (thanks to Rémi)
• Added documentation in the user guide for the edit menu

Version 4.0.14

• Restored the stay on top behavior for camera windows (thanks to Antoine)
• Fixed main display hang (thanks to Jérôme)
• Added LEDs to the Khepera robots
• Improved the tcpip example (thanks to Darren)
• Fixed BotStudio saving graph with multiple condition transitions
• Added khepera_gripper_camera example world and controller
• Fixed gripper + camera bug (thanks to Manuel)
• Fixed robot_get_device for devices that are children of Solid nodes (thanks to Ming)

Version 4.0.13

• Added servo_get_feedback function (thanks to Jérôme)
• Added set score reading in Judoka0.java (thanks to Frans)
• Robot view now also follows robots in 3D, useful for flying, or swimming robots (thanks to Jérôme)
• Fixed crash when attempting to transform a geometry node (thanks to Jérôme)
• Changed the title of the Webots window and the BotStudio window
• Fixed a few bugs in BotStudio
• Fixed bad MAC addresses on Windows
• Fixed the display of the license message under Windows 98/ME (thanks to Frans)

Version 4.0.12

• Fixed touch sensors in judo.wbt (thanks to Naveed)
• Fixed the floor in judo.wbt so that it is not slippery like ice any more
• Changed logo in the about box
• Set 8 colors for each LED in judo.wbt, useful for debug (thanks to Frans)
• The Judo reset supervisor now accepts X Z alpha position/orientation values to reset the robots (thanks to Frans)
• Removed the useless webots.key file in the downloadable demo
• Controllers quit after Webots crashes (thanks to Naveed)
• Added MyEclecticJudoka example in the Judoka0 controller (thanks to Cosmin)
• Added display field in the Camera node to disable camera window popup
• Robot windows are destroyed properly on load / reload (thanks to Frans)
• Fixed transparency problem while supervisor labels are displayed (thanks to Jérôme)
• Added servo_set_rel_force_and_torque and servo_set_abs_force_and_torque functions (thanks to Jérôme)
• Added gps_euler beta method in Java API to retrieve inclination and compass
• Fixed bug with camera data in the Mac OS X / Java interface
• Added batch mode to disable window display (webots --batch world.wbt)
• Fixed texture images on Windows for the blimp example (thanks to Jean-Christophe)
• Improved user guide and reference manual (thanks to Frans)
• Added a Visual C++ project for the khepera controller, fixed braiten and tcpip Visual C++ projects (thanks to Pontsho)
• More robust when launching worlds files not in the default world directory (thanks to Rémi)

Version 4.0.11

• Improved AVI movie export under Windows (thanks to Frans)
• Fixed crash when a DifferentialWheels robot misses a wheel name like "left wheel" or "right wheel" (Thanks to Andrew)
• Fixed some typo in the documentation (thanks to Frans)
• Added blimp_asl2 flying robot example (thanks to Jean-Christope)
• Fixed flipped texture images in controller's camera (thanks to Jean-Christophe)
• Added LED support in the Java API (thanks to Frans)
• Save the position and size of the BotStudio window (Windows only)
• Added an icon to the BotStudio window
• Save the window size and position in the preferences
• Added a GPS device to the judo robots
• Added a judo_reset_supervisor allowing complex learning algorithms to be implemented in the judo robot contest
• Fix bug with the colors of label displayed from the supervisor
• Fixed the Simulation -> Show Robot Window menu item
• Removed dependency on libpng under Linux to avoid libpng version problems (thanks to Sue)
• Fixed bug with the movement of custom robots and servos (thanks to Jean-Christophe)
• Fixed bug occuring when the default file name is not found in the user directory (thanks to Vaibhav)
• Fixed Windows .wbt icons (thanks to Alessandro)
• Fixed distance sensor measurement error occuring after supervisor_field_set (thanks to Mathieu)
• Added supervisor_simulation_revert(void)
• Fixed a crash occuring when changing the controller of a robot while the simulation is running
• Added supervisor_robot_set_controller(NodeRef robot,const char *controller)

Version 4.0.10

• Stripped down webots and controllers binaries to get smaller executables (thanks to Alessandro)
• Added touch sensors in the feet of the robots in judo.wbt
• Fixed return value for servo_get_position (thanks to Mugjug)
• Fixed a few floating license issues (thanks to Naveed)
• Fixed Z-buffer bug for cameras on Mac OS X (thanks to Julien)
• Added distance sensor names in the judo.wbt world (thanks to Philippe)
• Added custom_robot functions to the Java API (thanks to José)
• Webots display a clear error message when refusing to launch on some Windows 2K/XP machines (thanks to Cosmin)
• Added lib/RCXController.jar for Lego Mindstorms cross-compilation (thanks to Carle)
• Fixed missing texture for kiki.wbt sample world (thanks to Martin)
• Fixed display bug when opening a new graph with a node selected
• Fixed memory leak in BotStudio
• Fixed crash with empty condition (thanks to Alexandre)
• Fixed timer sensor condition display in BotStudio (thanks to Neil)

Version 4.0.9

• Added a camera and a distance sensor to each Judo robot in judo.wbt
• Added hemisson_botstudio.wbt as the default world for the Hemisson distribution
• Added ground texture to the judo.wbt world
• BotStudio now works on Mac OS X, including serial communication with the Hemisson robot
• Fixed bug with BotStudio and COM1/COM2 ports (thanks to Jim)
• Made BotStudio window resizable (thanks to Rémi)
• Fixed change of robot controller in the scene tree window on Windows (thanks to Fabien)
• Fixed MAC address problem with non permanent Internet connection on Windows (thanks to Philippe)
• Fixed Sphere subdivision problem with controller camera.
• Added missing texture for hemisson.wbt (thanks to Rémi)
• Fixed bug with distance sensors and collision detections (thanks to Nikolaus)
• Added servo_get_position and servo_motor_off to the Java API (thanks to Philippe)

Version 4.0.8

• Added judo.wbt world and Judoka controllers for the contest
• Added hemisson_maze.wbt world with BotStudio programming
• Added Hemisson cross-compilation system
• Fixed custom_robot_set_abs_force_and_torque

Version 4.0.7

• Added inertiaMatrix parameter to the Physics node (thanks to Jean-Christophe)
• Fixed bug in scene tree window for inserting Extrusion / IndexedFaceSet nodes in a boundingObject or as a normal shape (thanks to Fabien)
• Fixed bug with distance sensors and textured objects introduced in version 4.0.6 (thanks to Tiphaine)
• Fixed a reference to an inexisting world file in the reference manual (thanks to Tiphaine)

Version 4.0.6

• Fixed bug with IR distance sensors and complex objects made up of several Transform nodes (thanks to Nikolaus)
• Fixed socket cleanup on Windows in the tcpip controller example (Thanks to Jean-Christophe)
• Fixed collision problems with physics-less differential wheels robots (thanks to Tiphaine)
• Fixed the editing of the rotation angle value in the scene tree window (thanks to Nikolaus)

Version 4.0.5

• Changed the splash screen to the about box showing up only on the first run
• Extended the deadline of the default evaluation license file
• Added documentation on the LED node in the reference manual

Version 4.0.4

• Added a section in the user guide explaining how to cite Webots in a publication
• Added the client.c file in the tcpip controller example as well as Microsoft Visual C++ project files for Windows
• Fixed bug when a boundingObject was containing a Group with several Transform nodes (thanks to Nikolaus)
• Added braiten controller example (Thanks to Nikolaus)
• Uses the CLASSPATH global environment variable when executing Java controllers (Thanks to Matthew)
• Fixed bug with Pen device causing crash when loading a new world
• Added a controller selector in the scene tree window (thanks to Nikolaus)
• Added a note in the Solid documentation saying that the scale parameter should always be set to 1 1 1 to avoid problems with bounding objects (thanks to Nikolaus)
• Disabled scale editing for Solid nodes and bounding objects in the scene tree window (thanks to Nikolaus)
• Added range finder support in Camera node, see range_finder.wbt example (thanks to Alcherio)

Version 4.0.3

• Added documentation in the user guide on the "Make Movie" and "Screenshot" menu items (thanks to Mathieu)
• Added custom_robot_set_abs_force_and_torque (thanks to Stéphane)
• Changed field names in the Physics node (staticFriction became coulombFriction and kineticFriction was changed to forceDependentSlip) to match ODE definitions (thanks to Alexis)
• Fixed the position of X Y Z alpha in the scene tree window on Windows
• Fixed the display of MF fields in the scene tree window
• Fixed return values of the light sensors for the simulated Khepera robots (thanks to Jean-Christophe)

Version 4.0.2

• Fixed bug with custom_robot_set_relative_force_and_torque (thanks to Alexis)

Version 4.0.1

• Fixed rotation angle overflow showing up in very long simulation runs (thanks to Makoto Sato)
• Added humanoid robot example
• Inverted the mouse wheel rotation to match 3D navigation standards (thanks to Julien)
• Display coordinates names and units in the scene tree window (thanks to Julien)
• Added spin buttons to change numerical values in the scene tree window
• Changed custom_robot_add_rel_force_and_torque() function to custom_robot_set_rel_force_and_torque() to fix an important issue regarding basic simulation time step (thanks to Alexis)
• The scene tree editor prevents to insert a non legal geometry primitive in a boundingObject (thanks to Jean-Christophe)
• In worlds with Physics nodes, added density -1 where mass was specified to avoid confusion (thanks to Tiphaine)
• Fixed the generation of USE list when creating a new node in the scene tree window (thanks to Stéphane)
• Fixed flying_robot example so that the robot actually flies
• Fixed bug with MFNode display in the scene tree window
• Added a help button in the scene tree window to display node documentation (thanks to Jean-Christophe)
• Added the servo_motor_off function to switch off the motor of a servo (thanks to Eric)
• Fixed possible random position bugs with CustomRobot node
• Improved and updated the documentation, especially for the Physics node (thanks to Alexis)

Version 4.0.0

• Fixed jump around 2*pi while rotating a solid in a physics simulation
• Fixed servo_enable_position() causing Webots to crash
• Fixed arm and grip position measurement for real Khepera gripper
• Added kiki.wbt and kiki_camera.wbt described in the Webots user guide tutorial
• Removed the double splash window in evaluation version
• Fixed alife*.wbt worlds to work in evaluation mode

Version 4.0.beta5

• Added a robot window for controlling Servo nodes (double-click on a robot to get it pop up)
• Added many examples from Webots 3
• Fixed update of real gripper arm and grip positions on the Khepera window
• Fixed correspondance with real Khepera gripper aperture
• Added hemisson and hemisson_pen examples with support for Hemisson cross-compilation (see controllers/hemisson/hemisson.c)
• Added pipe relay example: khepera_pipe.wbt running pipe controller (Linux and Mac OS X only)
• Fixed presence and resistivity computation with simulated Gripper

Version 4.0.beta4

• Added support for remote control of a real Khepera Gripper
• Added controlP field in Servo node to control proportional PID parameter
• Added density field in Physics node
• Added khepera_gripper.wbt example
• Improved the user guide
• Fixed a few object selection issues
• Fixed support for Khepera cross-compilation
• Fixed bug in incremental encoders for differential wheels robots (the encoder value was multiplicated by the speedUnit parameter)
• Fixed the new button and menu item
• Fixed Khepera serial support for Mac OS X
• Fixed images in Windows HTML documentation
• Improved user guide

Version 4.0.beta3

• Fixed controller cameras on Mac OS X
• Added khepera_k213.wbt example
• Added servo_enable_position, servo_get_position and servo_disable_position
• Added custom_robot_add_rel_force_and_torque function
• Added Aibo ERS-210 model in aibo_ers210.wbt
• Click on an already selected object doesn't reselect it
• Display recursively the boundingObject of all children of a Solid
• Added biped.wbt example
• Implemented proportional control for servos
• Reworked reference manual / user guide
• Fixed hand with custom_robot interface
• Fixed Preferences window size on Mac OS X
• Fixed Khepera drawing on Mac OS X
• Fixed color button bug in scene tree window on Mac OS X
• Added a tutorial chapter on LEGO Mindstorms RCX with Webots
• Working cross-compilation for the LEGO Minstorms RCX (Rover example)
• Added the Java Rover example (run on Linux, Mac OS X and Windows
• Changed license file security system (rely on computer ID)
• Changed header of saved wbt files to "#VRML_SIM V4.0 utf8"
• Improved about box and license information system
• Fixed mouse capture and window focus problems on Windows
• Added an incomplete chapter on LEGO Mindstorms RCX simulation in Webots
• Added a paragraph in the Khepera chapter of the user guide
• Cleanup texture labels (in soccer.wbt) when loading a new world
• Fixed crash occuring when creating a new world
• Fixed crash with displaying some USE/DEF nodes
• Improved real Khepera interface, use simulation stop button to stop the real robot, step mode working with real robot
• Fixed bug with copy/paste of a node producing USE (null) in the scene tree
• Fixed hang with revert and some crashes when quitting
• Added robot_get_mode() function to determine whether a controller program controls a simulated robot, a real robot with natively compiled controller or a remote controlled real robot.
• Fixed material modifier effect on decreasing lookupTable for DistanceSensor
• Fixed bug with the remote control of a real Khepera robot
• Fixed real time mode
  
• Windows controllers compilation works with msys/mingw, DOS/mingw, SciTE/mingw and cygwin
  
• Windows controllers compilation allows to specify a DOS_CONSOLE variable in the Makefile to display a DOS console with when running the controller (useful if you use printf), see Makefile.included for instructions
  

Version 4.0.beta2

• Fixed the Solid lock field to avoid moving locked Solid nodes
  
• Locked the soccer field in soccer.wbt
  
• Fixed bug with selection of robots after running soccer.wbt
  
• Fixed bug with disappearing textures with Mesa
  
• Fixed the step and fast buttons
  
• Improved multi-threaded controller polling
  

Version 4.0.beta1

• Added a soccer example: soccer.wbt
  
• Added the ODE physics engine
  
• Use wxWindows (native GUI on Linux, Windows and Mac OS X)
  
• Fixed differential wheels encoder bug with negative values
  
• Improved real Khepera support (now integrated into Webots)
  
• Fixed ground texture layout
  
• Displays OpenGL information
  
• Moved speedometer into the preferences
  
• Zoom performed by pressing both left and right mouse buttons
  
• Added online help for 3D navigation and moving objects