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Webots R2025 Change Log

Webots R2025b

  • Enhancements
    • WbCamera, WbContactProperties, WbMotor, and WbSkin will now locally-download their resources if-necessary (like other nodes) when steaming or exporting to w3d (#6856).
    • Added implementations of wbu_system_tmpdir and wbu_system_webots_instance_path to the MATLAB API (#6756).
    • Added missing import libraries on Windows (#6753).
    • Added some missing function definitions to the existing Windows libraries (#6753).
    • Webots now prints the cause when it fails to create a memory-mapped file for a camera node (#6896).
    • Made the timestep algorithm more consistent when running in realtime mode (#6898).
  • Cleanup
    • Removed libController.a and libCppController.a libraries on Windows. Please use Controller.lib and CppController.lib instead (#6753).
  • Bug Fixes
    • Fixed a bug preventing the webots-controller executable from running on arm-based mac devices (#6806).
    • Fixed a typo in the controller.PositionSensor Python class: the motor property code was calling the wrong method (#6825).
    • Fixed a bug causing Webots to crash when multiple sounds were used with a Speaker node (#6843).
    • Fixed a bug causing the "Reload/Reset" buttons in the controller recompilation popup to not work on Windows (#6844).
    • Fixed resolution of relative paths when converting protos to their base nodes (#6856).
      • As a result of this change, relative paths that are not within a Webots-recognized resource field (ex. url) will no longer be updated when a proto is converted to its base nodes. This should not affect most users.
    • Fixed a bug causing TrackWheel nodes to lose their field values when used in a proto converted to a base node (#6856).
    • Fixed a bug causing supervisors to occasionally read stale field values after the simulation was reset (#6758).
    • Fixed a bug causing Webots to occasionally crash when unloading a world (#6857).
    • Fixed a crash occurring when Python was not found on Windows (#6870).
    • Fixed detection of physics plugins in extra projects (#6880).
    • Fixed addForceWithOffset and addTorque doing the same thing as addForce in Python (#6881).
    • Fixed Python controllers on Windows (#6933).
    • OSM importer no longer crashes when run in 3d mode (#6935).
    • Fixed Java compilation deprecation warning and run-time warning (#6936).
    • Fixed controller signal handlers not restoring the original handler (e.g. CPython's) on exit (#6945).

Webots R2025a

Released on January 31st, 2025.

  • New Features
    • Change the name of the web scene format from X3D to W3D (#6280).
    • Removed support for Ubuntu 20.04 "Focal Fossa" and added support for Ubuntu 24.04 "Noble Numbat" (#6704).
    • Removed support for macOS 11 "Big Sur" and added support for macOS 14 "Sonoma" (#6580).
    • Added the indirectFieldAccess tag to allow the fields variable to be used in proto templates without referencing a specific field (#6614).
    • Added a method to include all subtypes of a node type in a PROTO field restriction (#6574).
    • Improved the node field query api (#6613).
      • Renamed the wb_supervisor_node_get_proto_* methods to wb_supervisor_node_get_base_node_*
      • Renamed the proto field in the supervisor_node_get_field_* ROS services to queryBaseNode
      • Added the WbProtoRef type to the supervisor API.
      • Added the ability to query the internal structure and fields of a proto node.
      • Added the ability to query the field in the scene tree that corresponds to a proto internal field.
      • Fixed the method signature of wb_supervisor_node_get_number_of_fields in MATLAB.
    • Removed support for Lua as a PROTO scripting language (#6642).
    • Adapt QtToolTip text box for every Webots mode (#6711).
  • New Devices and Objects
    • Added a model of a silo and a field ditch (#6289).
    • Added a model of the Clearpath Heron USV robot (#6548).
  • Enhancements
    • Improved the image range of the rotating Lidar (#6324).
    • Show box-plane contact point normals when showing contact points (#6678).
    • Improved the speed and accuracy of box-plane collisions (#6688).
    • Enabled the launching of MATLAB desktop from the extern launcher (#6366).
    • Improved overlays visible in Overlays menu by adding all the robots in the menu list (#6297).
  • Cleanup
    • Removed deprecated windowPosition, pixelSize fields of Display node (#6327).
    • Remove ROS (1) support (#6697).
  • Bug Fixes
    • Fixed error message on Windows when libssl-3-x64.dll was added to PATH (#6553).
    • Fixed length of arrays returned by getPose() in Java (#6556).
    • Fixed length of arrays returned by CameraRecognitionObject.getColors() in Java (#6564).
    • Fixed handling of device objects with the same name in the controller API (#6579).
    • Fixed crashes (with some graphics cards) caused by references to unused GLSL uniforms (#6587).
    • Fixed Brakes added to the second axis of a Hinge2Joint being applied to the non-transformed axis (#6584).
    • Fixed invalid absolute sound file path resulted in crash (#6593)
    • Fixed Speaker relative sound file path not working with external controller (#6605).
    • Fixed the bug that when the language is Python, getTargets() cannot correctly obtain the multi-target data detected by the radar (#6606)
    • Fixed incomplete loading while minimized under some windowing systems (#6617).
    • Fixed unitialized sliding friction when using asymmetric rolling friction (#6618).
    • Made supervisor_export_image work even if using the --minimize --no-rendering options (#6622).
    • Fixed CA certificates needed by test_suite.py missing in Windows development environment (#6628).
    • Fixed to use a version of Qt that is still supported (#6623).
    • Fixed connection errors when using long robot names in some environments (#6635).
    • Fixed crash on macos when closing Webots under some circumstances (#6635).
    • Fixed error on macos when when putting displays and cameras in separate windows (#6635).
    • Fixed crash when wb_supervisor_field_get_name was called with NULL (#6647).
    • Fixed bug where the wrong y coordinate was used for one corner of the box drawn to represent a box-plane collision (#6677).
    • Fixed bug where the rotation axis of the omni wheel rollers were incorrect (6710).
    • Fixed a bug where Webots would crash if a geometry was inserted into a Shape node used a bounding box (#6691).
    • Removed the old wb_supervisor_field_import_sf_node and wb_supervisor_field_import_mf_node functions from the list of editor autocomplete suggestions (#6701).
    • Fixed a bug preventing nodes from being inserted into unconnected proto fields (#6735).
    • Fixed crash when an invalid HDR image was set as a world background (#6744).
    • Fixed handling of remote assets from unofficial sources (#6585).
    • Fixed the QtToolTip bug, where the text in the text box is not being displayed (#6711).
    • Fixed Python path for libcar.dylib and libdriver.dylib on macOS (#6482).
    • Avoided crash and provided better warnings when attempting to access PROTO nodes in a wrong way from the supervisor API (#6473).
    • Fixed errors loading template PROTO if the system user name, the project path, or the temporary directory path contains the \ character (#6288).
    • Fixed Webots and libController version comparison not to take revisions into account (#6315).
    • Fixed translation, rotation and scale displayed in the Position tab of the Node viewer in the scene tree (#6309).
    • Replaced the Mesh bounding object of the ROSbot XL by Boxes (#6326).
    • Fixed a crash when IndexedLineSet has coord but no coordIndex (#6359).
    • Fixed values returned by the Receiver.getEmitterDirection Python method (#6394).
    • Fixed recognition of omnidirectional cameras with fov > pi/2 in [WbObjectDetection] (#6396).
    • Fixed ElevationGrid collisions not matching the displayed when the x and y dimensions are different (#6412)
    • Fixed JNILIB_FLAGS relative reference for Java controllers (#5181)