Webots 8 change log

Webots 8 change log

Webots 8.3.2

Released on December 16th, 2015
  • Enhancements
    • Improved proposed file name for HTML5 Model and Animation export to match the world name.
  • Bug fix
    • Fixed several bugs related with non ASCII UTF-8 characters in paths.
    • Added highlighting of missing Webots nodes names in text editor.

Webots 8.3.1

Released on December 4th, 2015
  • Enhancements
    • Changed Robot's menu items from 'Show All Camera Overlays' and 'Show All Display Overlays' to 'Hide All Camera Overlays' and 'Hide All Display Overlays'.
    • Disabled pixel picker for Camera and Display overlay while simulation is running.
    • Added icons for all the nodes who didn't had one.
  • Upgrade
    • Upgraded to Qt 5.5.1.
  • Bug fix
    • Fixed VRML and HTML5 model export of TrackWheel and Track nodes (not animated).
    • Fixed animation export window shown behind main window.
    • Fixed problems and improved behavior of overlays items in Robot menu.
    • Fixed occasional crash occuring when copying and pasting an object with bounding object USE nodes.
    • Fixed crash in cameras occuring when the shared memory is full.
    • Fixed remote-control plugins (regression added in Webots 8.3.0)
    • Fixed problems with robot window and camera device causing hang of controller and wrong error messages in the console.
    • Fixed link to the reference manual when pressing the 'Open documentation' button of the field editor.
    • Fixed occasional crash occuring after logging in and pressing the 'enter' key in the license information dialog.
    • Fixed PROTO specific libraries not found for PROTOs not directly inheriting from Robot.
    • X3DOM: Removed shadows casting on semi-transparent objects.
    • Fixed dependency of springConstant and dampingConstant on global axes for BallJoint.
    • Linux: fixed compilation of C++ controller using GCC 5 (libCppController and controllers are compiled with the -D_GLIBCXX_USE_CXX11_ABI=0 flag).
    • Fixed problem of non-closed and non-deleted procedural PROTOs temporary files.
    • Streaming server
      • Added a "disableStandardStreamsRedirection" option to avoid the controller standard streams redirection through the streaming server.
      • Restored and improved the "streaming_viewer/index.html" page to display the streaming server output into a web browser.

Webots 8.3.0

Released on October 7th, 2015
  • New Features
    • Support for Windows 64-bit: Webots now runs natively on Windows 64-bit operating systems. As a consequence, the support for Windows 32-bit was dropped. Matlab users should use Matlab 64-bit instead of Matlab 32-bit.
    • Users of Windows 32-bit systems should not upgrade to Webots 8.3.0.
    • Support for Mac OS 10.11, El Capitan.
    • Added new functionality for showing the Camera or Display overlay in an external window.
    • Streaming server player: displayed the collision outline when an object is selected.
    • Added new field called 'motionBlur' to the Camera node.
    • Added a new node called 'CameraFocus' which can be added in the 'focus' field of the Camera device in order to simulate a focusing mechanism.
    • Added new field called 'compositor' to the Camera node, which can be used to add a compositor to the camera image.
    • Added a new node called 'CameraLensDistortion' which can be added in the 'lensDistortion' field of the Camera device in order to simulate camera image distortion.
    • Added new Motor functions to retrieve field values and values set from the controller: 'wb_motor_get_velocity', 'wb_motor_get_max_velocity', 'wb_motor_get_acceleration', 'wb_motor_get_available_force', 'wb_motor_get_max_force', 'wb_motor_get_available_torque', and 'wb_motor_get_max_torque'.
    • Added a new field called 'noiseCorrelation' to the GPS node which set the noise to follow a gaussian correlated ditribution.
    • Added a new Robot function 'wb_robot_window_custom_function' to communicate with the robot window plugin.
    • Supervisor API improvements
      • Added a new Supervisor function to save the current simulation: 'wb_supervisor_save_world'
      • Created Supervisor API to create animations.
      • Renamed Supervisor API to create movies: 'wb_supervisor_start_movie' to 'wb_supervisor_movie_start_recording' 'wb_supervisor_stop_movie' to 'wb_supervisor_movie_stop_recording' 'wb_supervisor_get_movie_status' to 'wb_supervisor_movie_get_status'. The old functions are deprecated.
      • Added a new Supervisor function to retrieve a node reference from a given id: 'wb_supervisor_node_get_from_id'.
      • Added a new Supervisor function to retrieve the unique id from a node reference: 'wb_supervisor_node_get_id'.
      • Added a new Supervisor function to retrieve the parent of a given node: 'wb_supervisor_node_get_parent_node'.
      • Added a new Supervisor function to remove a given node from the scene tree: 'wb_supervisor_node_remove'.
      • Removed the wb_supervisor_animation_set_local_resources() function.
      • Improved Supervisor function 'wb_supervisor_node_get_type_name' to return the model name in case of PROTO nodes.
      • Added Supervisor function 'wb_supervisor_node_get_base_type_name' that returns the base type nodes.
      • Added Device function 'wb_device_get_model' that returns the device model string.
    • Webots Web Interface
      • Removed the web resources (JavaScript libraries, CSS files, etc.) from the Webots package. Only the online resources are maintained from now.
      • Improved the URLs of the online resources.
      • Renamed "webots_player.js" to "webots.js", and internally renamed the 'WebotsPlayer' class to the 'webots.View' class. Refactored the API of the 'webots.View' class.
      • Refactored the HTML5 scene and animations export in order to use the 'webots.View' class of the "webots.js" file.
    • Added '--log-performance' starting option.
  • Enhancements
    • Improved the streaming server to support adding/removing nodes.
    • Improved the streaming server and the animation recorder to support Transform modifications (rather than only Solids with Physics).
    • Improved camera computation, all the computations (depth computation, spherical correction, noise, etc.) are now performed on the GPU.
    • Added resize and close button to Camera and Device overlay in order to set the position and the size of the overlay directly from the 3D view: 'pixelSize' and 'windowPosition' fields are deprecated.
    • Added a mechanism to copy the camera image into the shared memory only when required (i.e. after a call to 'wb_camera_get_image' or 'wb_camera_get_range_image').
    • Renamed and moved 'Show Camera Overlays' and 'Show Display Overlays' items in Robot menu.
    • Added 'Camera Devices' and 'Display Devices' submenus in Robot menu to allow the user to show or hide single overlays.
    • Changed GPS noise to follow a gaussian distribution.
    • Added warning if preferences file cannot be read due to insufficient access rights.
    • Added 'Clear Console' action in the context menu of the console.
    • Added position information in field editor for Transform nodes.
    • Hid mass tab in field editor when a Solid without physics properties is selected.
  • Upgrade
    • Upgraded to Qt 5.5.0.
    • OpenGL 2.1 (or newer version) is now required to use Webots.
  • Cleanup
    • Dropped the sound plugins.
    • Dropped 'both' camera type.
  • Bug fix
    • Fixed controllers starting time for robots imported during the simulation execution so that they are configured in the next time step.
    • Fixed the Webots temporary directory which was not cleaned in some cases.
    • Fixed the radius field of the PointLight and of the SpotLight.
    • Fixed delayed update of camera overlay in step-by-step mode.
    • Fixed crash when Webots is closed while the streaming server is running.
    • Improved the streaming server in order to not send empty updates.
    • Improved the rendering of the X3D scene in web browsers using x3dom.css.
    • Fixed change from the scene tree not propagated to the controller after simulation has started.
    • Fixed crash using a kinematic DifferentialWheels whose left or right wheel is not defined.
    • Fixed saving world files and exporting in VRML format when containing UTF-8 characters.
    • Fixed documentation page opened using the 'Help' field editor item.
    • Fixed sound mute/unmute behavior.
    • Fixed invalid license issue when using Door PROTO with a license different than EDU or PRO.
    • Fixed crash moving boundingObject geometries with Transform and Shape parent nodes (thanks to François).
    • Fixed overlays and outlines rendering.
    • Fixed X3D export when WorldInfo is containing HTML characters.
    • Fixed selection of solid node on revert.
    • Fixed problem of texture not found in some PROTOs.

Webots 8.2.1

Released on June 29th, 2015
  • Bug fix
    • Fixed error using a USE TrackWheel node in PROTO files (thanks to Kevin).

Webots 8.2.0

Released on June 25th, 2015
  • New Features
    • Implemented the VRML Background's url fields in order to create sky boxes.
    • Added PositionSensor and Brake functionalities for Track node: motor SFNode field replaced by device MFNode field in Track node.
    • Added a TrackWheel node to define the auto-rotating wheels of the track system.
    • Added new function called 'wb_supervisor_load_world' to the Supervisor API to change the current world.
    • Added new function called 'wb_supervisor_field_import_mf_node_from_string' to the Supervisor API to add a node to the simulation based on a string.
    • Added new function called 'wb_supervisor_field_remove_mf_node' to the Supervisor API to remove a node from the simulation.
  • Enhancements
    • Support 'MFBool' and 'MFRotation' VRML field types.
    • Added item in View > Optional Rendering menu to hide/show the pen painting direction. Optional Rendering shortcuts have changed.
    • Added warning message if 'northDirection' value of WorldInfo is not valid.
    • Restore global center of mass, center of buoyancy and support polygon optional rendering at load or revert.
    • Updated representation of global center of mass, support polygon and center of buoyancy when simulation is not started or paused.
    • Enabled insertion of a Group or Transform node in the animatedGeometry field of a Track node.
    • Enabled insertion of a Solid node in the children field of a Group or Transform node if the top level node is a Solid node.
    • Encapsulated the Webots Online Player into a JavaScript library.
    • Removed the maintenance version from the Cyberbotics web resources ("http://www.cyberbotics.com/web/8.1/").
    • Removed the deprecated 'fast2d' field of the 'WorldInfo' node from the scene tree.
  • Cleanup
    • Removed support of the deprecated 'gaussianNoise' field of the 'Camera' node.
  • Upgrade
    • Upgraded to jQuery 1.11.3
    • Upgraded to jQuery UI 1.11.4
  • Bug fix
    • Fixed update of bounding object color when solid is idle.
    • Fixed timing bug caused by calling wb_console_print() before the first call to wb_robot_step().
    • Fixed wrong warning using nested USE nodes of a PROTO DEF node.
    • Fixed copy and paste of Track nodes from the scene tree.
    • Fixed update of animated geometries shapes of Track node from the scene tree.
    • Fixed use of proxy for HTTPS networking: now the system proxy is automatically used if defined (thanks to Frédéric).
    • Fixed incorrect warning popping-up about wrong password caused by accented characters in the user name (thanks to Frédéric).
    • Fixed streaming server dialog (fixed the hyperlink and started it after the streaming server creation)
    • Fixed appearance of IndexedFaceSet geometries inserted in a Shape node from the scene tree.
    • Fixed crash occurring when a boundingObject cylinder and a boundingObject capsule are located at the same position and their axes are aligned.
    • Fixed crash with invalid geometries in boundingObject field.
    • Fixed visible hidden fields in the scene tree of PROTO nodes that are not in the top level of the hierarchy.
    • Fixed bug in parsing of runtime.ini files (thanks to Rajesh).
    • Fixed problem of Hinge2Joint position slowly drifting when used in complex structure.
    • Fixed the loading world window displayed even when Webots is started in minimized mode.

Webots 8.1.0

Released on May 12th, 2015
  • New Features
    • Added new Track node to model tank robots and conveyor belts.
    • Added items in View > Optional Rendering menu to hide/show camera and display overlays. Optional Rendering shortcuts have changed.
    • Added a tool to export animations of the simulations in HTML/X3D format.
    • Added a tool to stream a simulation to an Internet page (using HTML5, WebSockets and X3DOM). This feature is restricted to the PRO version.
    • Added a supplementary level in the lua fields dictionary, it is now possible to access either the current value or the default value of a field.
    • Added a new lua dictionary called 'context' in the template PROTO to retrieve contextual information (project path, modules folder, Webots version, etc.).
    • Added new Camera API functions 'wb_camera_get_min_fov' and 'wb_camera_get_min_fov' to get the valid zoom range.
    • Added new Supervisor API functions 'wb_supervisor_node_set_velocity' and 'wb_supervisor_node_get_velocity' to set/get the linear and angular velocities of a Solid node.
    • Added a new Robot API function 'wb_robot_get_world_path' to retrieve the curent opened world.
  • Enhancements
    • Support Slot node in endPoint field of any Joint node.
    • Improved collision managment in kinematic mode.
    • Improved the Supervisor function 'wb_supervisor_node_get_from_def()', it is now possible to look for a specific node path in the node hierarchy.
    • Added a new field called 'optimalThreadCount' to the WorldInfo node. Using this field it is now possible to specifiy independently for each world how many threads to use for the physics computation (ODE).
    • Improved support of large worlds. If a world takes more than 2 seconds to load, a window displaying the load progress and allowing the user to cancel is displayed and Webots does not freeze anymore.
    • Improved support of extrusion geometry by using a procedural PROTO instead of a built-in node.
    • Disabled paste button from scene tree if a the selected field already contains the maximum number of allowed items.
    • Improved mass checker message to better identify which solid nodes could cause instabilities.
    • Sped up simulation of LED devices containing lights when they are switched off.
    • Sped up simulation of range-finder camera (particularly in the case of spherical camera).
    • Added several settings to the 'New Project Directory' wizard to customize the generated world.
  • Upgrade
    • Upgraded to Qt 5.4.1.
    • Upgraded to OpenSSL 1.0.2.
    • Dropped Linux 32 bit support.
  • Bug fix
    • Linux: disabled automatic undocking of Text Editor and Console widgets by drag and drop to fix a Qt bug. Instead the floating button has to be used first and then the window can be moved by drag and drop.
    • Fixed behaviour of 'wb_camera_set_fov' function not storing invalid values.
    • Windows: Improved linking with the ODE shared library.
    • Removed all the deprecated references to the old fast2d plugin system.
    • Fixed CPP API to return errors if any device include is missing.
    • Fixed some crashes due to ODE internal errors.
    • Fixed bug in the export of image textures to VRML and X3D.
    • Fixed wrong warning message displayed when inserting a USE Appearance node in a boundingObject field.
    • Fixed crash occurring with Transform nodes in boundingObject field containing a USE geometry node.
    • Fixed crash occurring when switching to multiple threads from the Preferences dialog while the simulation is running.
    • Added warning message if the up-to-date controller executable can not be executed due to zombie instances.
    • Fixed crash in worlds containing a SolidReference node that refers to the static environment (thanks to Sébastien).
    • Fixed screenshot and movie creation on high DPI displays (such as Apple's retina)
    • Windows: Fixed rare case where Matlab was failing to load Controller.dll.
    • Windows: Fixed WEBOTS_MODULES_PATH format.
    • Windows: Fixed ignored command line options passed to webots.bat.
    • Windows: Fixed UTF-8 support in the WEBOTS_MODULES_PATH environment variable.
    • Improved precision of the Cylinder shader (the enlightment of the CircleArena floor is improved accordingly)
    • Fixed insertion of RotationalMotor in the device field of Propeller from the add node dialog.
    • Fixed value returned by 'wb_robot_keyboard_get_key' function when releasing key shortcuts containing special keys.
    • Fixed problem occurring with several sensors where the field 'resolution' was ignored if the field 'xAxis' was set to false.
    • Fixed crashes arising when trying to import VRML file of unsupported format.
    • Fixed sound not playing at startup of Webots.
  • Documentation
    • Documented the algorithm used to search the texture paths in the ImageTexture node.

Webots 8.0.5

Released on February 2nd, 2015
  • New Features
    • Supported textures which do not have a valid OpenGL dimension (e.g. 512x1024) by upscaling them automatically.
  • Bug fix
    • Fixed regression preventing users from using local licenses while being offline.
    • Fixed crash with non PRO/EDU licenses while relocating a sample project in a user directory.
    • Supported modules path containing UTF-8.
    • Supported textures paths containing UTF-8.

Webots 8.0.4

Released on January 22th, 2015
  • New Features
    • Added a new tab in the node editor which shows the absolute/relative position and orientation of the node.
    • Defaults to NVIDIA graphics on Optimus architectures.
  • Enhancements
    • Added possibility to select the values shown in 'Mass' and 'Position' tabs of Solid field editor.
    • Improved simulation speed when changing frequently the translation and/or rotation fields of Solid nodes.
  • Bug fix
    • Windows: Fixed the warning when a texture path is containing UTF-8 characters.
    • Windows: Fixed modules installation on Windows accounts containing UTF-8 characters.
    • Fixed download and installation of module updates. It now occurs before opening the world file to avoid possibly overwriting files in use. Moreover, errors, if any, are properly reported.
    • Fixed rendering issues when adding some lights from the add node dialog.
    • Fixed line endings in clipboard text copied from text editor.
    • Matlab: Added wb_console_print() function to display messages in the Webots console.
    • Linux: Added libjpeg8 library in tarball package to solve conflicts.
    • Fixed copy of libraries and PROTO's controller during project relocation.
    • Fixed issues with textures url path not exported correctly when exporting the world in X3DOM.
    • Improved robustness and error messages when importing invalid WBO and VRML 2.0 files.
    • Sped up the "Open Sample World" and "Add a node" dialogs.
    • Fixed WBO export (thanks to Boxing).
    • Linux: fixed Qt platform plugin conflict arising when starting webots from outside its home folder (thanks to Stefano).
    • Mac OS X: Reintroduced support for Mac OS X Mountain Lion.
    • Fixed wrong 'endPoint' solid rotation when changing the position field of a joint from the scene tree.
    • Fixed seldom block of field editor update on item selection change after aborting a transform or a reset action.
    • Fixed range of motor and joint position limits 'minStop', 'maxStop', 'minPosition', and 'maxPosition' when initial joint position is different from zero.
    • Fixed regression bug blocking the application of force and torque from the 3d window on Solid nodes embedded in PROTO definitions.
    • Fixed crash when selecting objects containing a closed mechanical loop where a joint endPoint Solid node refers to an ancestor Solid node.
    • Fixed problem of the wheels of DifferentialWheels drifting when moving it with a Supervisor.

Webots 8.0.3

Released on December 5th, 2014
  • Bug fix
    • Fixed "Connection refused" error occuring while downloading module updates in some network configurations (thanks to Jessica).
    • Mac OS X and Windows: Fixed computation of uuid to avoid problem with downloaded licenses used in a different network configuration (thanks to Norhidayah).

Webots 8.0.2

Released on December 3rd, 2014
  • Upgrade
    • Upgraded to Ogre 1.9.0.
  • Enhancements
    • Display a warning message with explanations and quit if the user has no license rights.
    • Improved function updating vertical and horizontal scroll position in the scene tree.
    • Significantly improved simulation speed for simulation in kinematic mode with more than one DifferentialWheels robots.
    • Added option in View menu to disable Solid node selection from 3d view.
    • Added a new option (--uuid) to the Webots binary in order to display the UUID of the computer.
  • Bug fix
    • Ubuntu 12.04: Fixed the OpenAL dependencies causing issues at the Webots startup.
    • Fixed crash when loading worlds mixing DEF/USE definitions and PROTO nodes.
    • Fixed update of values in field editor after paste and undo/redo commands.
    • Fixed crash and memory leaks in fluid dynamics physics.
    • Fixed crash when using LightSensors in a world containing SpotLights.
    • Fixed modification of the license warnings preference from the Preferences window.
    • Linux: Removed warning on Webots startup about webots.desktop file.
    • Linux: Support import and export of various files with case insensitive file name extension (e.g., *.wrl or *.WRL).
    • Linux: Fixed export webots object dialog not displayed on top of the main application window.
    • Mac/Linux: Fixed the controller behavior when a debugger (lldb/gdb) is attaching the controller process.
    • Windows: Fixed missing cat.exe and sed.exe msys commands causing several Makefiles to fail.

Webots 8.0.1

Released on November 18th, 2014
  • New Features
    • Inform the user when a new version of Webots is released.
    • Don't show PROTOs marked as deprecated or hidden in the add node dialog.
  • Bug fix
    • Fixed crash pasting a PROTO node in a DEF node references by at least one USE node.
    • Fixed crash when selecting a USE PROTO node in the add node dialog.
    • Mac: Fixed crash on startup.
    • Fixed crash inserting or removing Physics nodes.
    • Improved moving a Solid node in the 3D view by disabling physics updates.
    • Improved project relocation dialog when modifying a PROTO definition: copy PROTO files, plugins and associated controller by default.
    • Linux: Fixed the sound rendering. OpenAL is now compiling with the ALSA and PulseAudio sound frameworks.
    • Fixed write permissions of files while updating modules.
    • Fixed write permission of worlds created by the Project relocation window.
  • Upgrade
    • Upgraded to OpenAL 1.16.0.
  • Enhancements
    • Improved modules update dialog: display it only once at startup.
    • Added an option in the preferences dialog to enable or disable the modules update dialog.
    • Extended project relocation dialog to copy sources related to module PROTOs in user projects if the license allows it.
    • Added a confirmation window if the current world has been changed before to revert or load another world.
  • Documentation
    • Improved documentation about the e-puck bluetooth setup.
    • Updated the tutorial.

Webots 8.0.0

Released on October 30th, 2014
  • New Features
    • Added new modular licensing system that replace the licensing system used in Webots 7.
    • Fluid dynamics simulation: the computation of Archimedes's thrust and drag forces is automated by means the new nodes Fluid and ImmersionProperties.
    • Graphical representation of buoyancy centers and immersion outlines.
    • Sound (experimental): Motors, collision, rolling and sliding sounds can be optionnaly listened from the computer loud speakers.
    • Added new Supervisor API function 'wb_supervisor_node_get_self' to retrieve the Supervisor node itself.
    • Added new Supervisor API function 'wb_supervisor_get_movie_status' to check the status of the video creation.
    • Asymmetric friction
      • Modified the type of the 'coulombFriction' and 'forceDependentSlip' fields of the ContactProperties node from SFFloat to MFFloat allowing the user to set different coefficients for different directions.
      • Added a new field named 'frictionRotation' to the ContactProperties to set the friction directions.
      • Only the Box, Plane and Cylinder primitives support asymmetric friction for now.
      • Added duplicate pose functionality in motion editor.
    • Objects library
      • Improved the prototypes set used to create indoor environment (Door, Window, Wall) in order to create more complex apartments with less objects.
      • Improved the Table prototype to render it customizable (size, feet size, feet gap, etc.).
      • Removed the SmallTable, DoubleWindow, SingleDoorCommon, SingleDoorEntree, WallGap, WallWithDoubleWindowFrame and WallWithSingleDoorFrame prototypes.
    • Hinge suspension
      • Added new fields named 'suspensionSpringConstant', 'suspensionDampingConstant' and 'suspensionAxis' to the HingeJointParameters, allowing the user to set suspension along a choosen axis.
      • Removed Hinge2JointParameters node, the standard HingeJointParameters should be used instead.
    • Joint device
      • Changed the field 'device' of the nodes Joint (and 'device2' in the case of Hinge2Joint) into an MFNode that accepts several devices (one of each type).
      • It is not possible anymore to get the position of the joint with a Motor device (a PositionSensor device need to be added in addition to the Motor).
      • Added a new node called Brake that can be added in the 'device' field of a Joint node in order to be able to change the dampingConstant coefficient of the joint from the controller.
    • Added a new node named 'Slot' in order to define what can be inserted in an extension field of a PROTO.
    • Added the new environments for the RoCKIn@Home and RoCKIn@Work benchmark.
  • Upgrade
    • Official support for Ubuntu 14.04 LTS and 14.10 (and Ubuntu 12.04 LTS if using the tarball package), the support of Ubuntu 13.10 is dropped (but may still work).
    • Official support of Mac OS X Yosemite
    • Official support of Windows 8.1
    • Upgraded to Qt 5.3.2
    • Windows: upgraded to MingGW 4.8.2
    • Updated Nao challenge to v1.11
  • Enhancements
    • Renamed Motor::getTargetposition() to Motor::getTargetPosition() in the C++, Python and Java APIs.
    • Enabled translation and rotation handles for any Transform nodes.
    • Improved synchronization between scene tree selection and 3D view selection.
    • Moved 'translationStep' and 'rotationStep' fields from Solid to Transform node.
    • Removed automatic physics reset when changing a solid translation or rotation from a supervisor controller.
    • Added new supervisor function wb_supervisor_node_reset_physics(WbNodeRef) that stops the inertia of a single solid.
    • wb_supervisor_simulation_physics_reset() function has been deprecated and replaced by wb_supervisor_simulation_reset_physics().
    • Improved PROTO cache files: use hash value instead of modification date to detect if PROTO file has been modified.
    • Removed the limitation of 1024 bytes of the Physics Plugin communication buffer.
    • Modified the default value of the 'bufferSize' fields of Emitter and Receiver to -1 for unlimited communication buffer size.
    • Added a new field named 'data' to the Robot node, and functions to get and set its content.
    • Added syntax highlighting for Lua code in the text editor.
    • Added a multi-threaded version of the Java's Slave example.
    • Improved appearance of 3D vector displaying applied force and torque.
    • Improved the support of Intel GPUs by applying a better setup of the OpenGL preferences.
    • Moved the 'Simple Rendering' menu item to the 'Disable shaders' preferences item.
    • Renamed the 'High Quality' menu item to 'Plain Rendering'.
    • Added warning when the mass ratio in a simulation is too high.
    • Added more explicit warnings about min/maxPosition and min/maxStop fields.
    • Added wrist and gripper slots to the IPR models.
    • Added a new option (--sysinfo) to the Webots binary in order to display information about the system.
    • Added support for PROTO derived from another PROTO node.
    • Added support for resetting not-NULL default values of SFNode and MFNode fields.
    • Added and improve warning messages when loading unsupported node structures.
    • Improved the add node dialog in order to hide the deprecated prototypes.
    • Improved procedural nodes. A supplementary dictionary layer has been introduced in the Lua representation of nodes. This may break the compatibility of your procedural PROTOs.
    • Opened and uniformized the resolution fields of the lidar devices (Hokuyo, Sick)
    • Improved appearance of resize handles that can be activated for geometries, transform and solid nodes from the node field editor.
    • Added warning if DEF node referred by a USE node is deleted when resetting a field value.
    • Improved performance of the simulation of spherical cameras in case of non-square cameras (dramatic increase of the simulation speed in case of high resolution laser-scanner).
  • Robots library
    • Fixed Pioneer3DX caster wheel
  • NAO
    • Upgraded to naoqi 2.1.
    • Added the NAO challenge 2014-2015 environment.
    • Moved nao main directory to projects/robots/aldebaran
    • Added a controller resolving the NAO Challenge (2013-2014 edition) using naoqi 2.1.
    • Added a controller for the nao_robocup world so that NAO now tries to score goals by default.
    • Improved the model of the jersey (previously waistband), and added 5 red and 5 blue numbered jersey textures.
  • DARwIn-OP
    • Improved the soccer controller so that the robot now tries to score goal.
    • Added a supervisor to randomize or reset the starting position of the ball and DARwIn-OP in the soccer world.
    • Improved the model of the jersey (previously waistband), and added 5 red and 5 blue numbered jersey textures.
  • Robotstadium
    • Updated the supervisor of the robotstadium worlds to apply the rules from the 2014 RoboCup SPL Rule Book.
    • Added a vision module inside the robotstadium controller folder which can be easily used by any robot to detect the ball and the goals in a robotstadium field.
    • Improved the default behaviour of the DARwIn-OP team 1.
  • e-puck
    • Upgraded e-puck firmware 1.4.4 to 1.5.1.
    • Upgraded e-puck library to e-puck svn r112: Support of the new e-puck models.
    • Upgraded e-puck tool chain to Microchip's xc16 compiler v1.23.
    • Improved robustness of the firmware upload.
  • Deprecation
    • The Pioneer3 PROTOs have been renamed without the backward compatibility support. Please update your simulation files accordingly (rename "Pioneer3AT" to "Pioneer3at", and "Pioneer3DX" to "Pioneer3dx")
    • Physics plugin: Removed the obsolete arguments of the wb_physics_init() function.
    • Removed deprecated functions (C API): wb_camera_range_image_get_value() and wb_camera_move_window()
    • Removed deprecated functions (OO API): Camera::rangeImageGetValue() and Supervisor::rangeImageGetValue()
    • Removed Cyber Savannah contest from the projects library distributed with PRO and EDU licenses.
  • Bug fixes
    • Fixed object mass update after deleting nodes from the boundingObject field.
    • Fixed wrong values returned sometimes (especially at high speed) by PositionSensor devices attached to HingeJoints and Hinge2Joints.
    • Fixed opening of the User Guide and Reference Manual (PDF version) from the Help menu on Linux.
    • Removed the limitation that was limiting to 8 the number of lights that can light simultaneously the same object.
    • Fixed the Shape rendering in case of empty Appearance or Material to match with the VRML specifications. In this case, the object is unlit (white rendering).
    • Fixed default UV-mapping of the IndexedFaceSet primitive to match with the VRML specifications.
    • Fixed return value of getDeviceByIndex() Robot function in Python and Java APIs so that returns an instance of the derived class instead of the base Device class.
    • Fixed overrided function Device::getType() by renaming it to Device::getNodeType() in C++, Java, and Python APIs.
    • wb_device_get_type(WbDeviceTag tag) function has been deprecated and replaced by wb_device_get_node_type(WbDeviceTag tag) in C and Matlab APIs.
    • Fixed inclusion of Device functions wb_device_get_node_type() and wb_device_get_name() in Matlab API.
    • Removed invalid constants WB_NODE_MOTOR and WB_NODE_SPOTLIGHT from Matlab API.
    • Fixed insertion of ElevationGrid into boundingObject when nested in a Transform node.
    • Fixed ROS example 'panoramic_view_recorder'.
    • Fixed the pattern recognition of the curriculum (thanks to Gautam Ponnappa)
    • Fixed insertion constraints for Robot nodes.
    • Fixed several bugs related with ODE geom update in runtime.
    • Fixed load of 'device' library in the Matlab API.
    • Fixed DEF-USE update when setting the DEF name of a node to a value already used by another node defined before the referring USE node.
    • Fixed DEF-USE mechanism with BallJointParameters nodes that should not be allowed.
    • Fixed 3D view update when pausing a simulation.
    • Fixed pasting nodes in 'boundingObject' field.
    • Fixed valid range of Emitter aperture so that it includes the lower bound value 0.
    • Fixed functionality of Robot > Edit Controller menu item that was not working before the simulation started.
    • Fixed appearance of painted area by avoiding to set a value bigger than 1.0 to the pen's ink density field.
    • Fixed crash when modifying the center of mass of a solid node with undefined 'boundingObject' field.
    • Fixed crash when deleting first the physics and then the boundingObject node of a solid node.
    • Fixed compilation failure caused by system environment variables (thanks to Neil).
    • Fixed crash on Windows when starting Webots with the "--minimize" option.
    • Taken into account the emissive color in case of textured shapes (bug introduced in Webots 7.4.0).
    • Fixed the value measured by an infra-red distance in case of a textured shape (its diffuse color is no more taken into account).
    • Improved the Webots termination through unix signals SIGTERM (e.g. process termination from a script) and SIGINT (e.g. Ctrl+C from a terminal)
    • Improved floor appearance in apartment.wbt to fix the behaviour of the Create robot (thanks to Greg).
    • Fixed motion editor pause icon.
    • Fixed motion editor warnings about joint position out of valid range when no position limits are defined.
    • Fixed insertion from the Add Node dialog of PROTO nodes derived from another PROTO.
    • Fixed crash when opening the Add Node dialog if invalid PROTO nodes are defined in the project.
    • Improved robustness of PROTO nodes.
    • Improved robustness of loading invalid PROTO files.
    • Fixed import and load functionalities by avoiding the insertion of devices into nodes that are not part of a Robot.
    • Improved speed of 'Save World As' and 'Open World' actions for worlds not located in a valid project folder.
    • Fixed loading worlds using PROTO files located in a subfolder of the 'protos' folder.
    • Fixed springConstant and dampingConstant along second axis of a Hinge2Joint.
    • Fixed dependency of springConstant and dampingConstant on global axes for HingeJoint and Hinge2Joint.
    • Fixed crash occuring in the multithreaded version of ODE when changing the value of springConstant and dampingConstant while Webots is running.
    • Fixed restoring initial selection after indent and unindent in the text editor.
    • Fixed syntax highlighting of C/C++ comments in the text editor.
    • Fixed color of item representing PROTO nodes in the scene tree so that correctly show if their fields have default values.
  • Documentation
    • Documented the Webots preferences.
    • Renamed 'Add New' button as 'Add' button in the user guide.

Webots 7 change log

From September 2012

Webots 6 change log

From November 2008

Webots 5 change log

From January 2005

Webots 4 change log

From February 2003