# Webots R2025 Change Log

## Webots R2025b
Released on ??.
  - New Features
    - Added the `wbenv` Javascript module for procedural protos to get environment variables ([#6793](https://github.com/cyberbotics/webots/pull/6793)).
  - New Devices and Objects
    - Added model of the [Robolab](https://robolab.unex.es/)'s P3Bot robot and two sample worlds ([#5973](https://github.com/cyberbotics/webots/pull/6919)).
    - Added [Kinova Gen3 7DoF](https://www.kinovarobotics.com/product/gen3-robot) manipulator ([#5973](https://github.com/cyberbotics/webots/pull/6919)).
  - Enhancements
    - Added support for Ubuntu 26.04 "Resolute Raccoon" ([#7014](https://github.com/cyberbotics/webots/pull/7014)).
    - Added proper `Accelerometer` and `Gyro` nodes for the KHR-3HV robot ([#6959](https://github.com/cyberbotics/webots/pull/6959)).
    - `WbCamera`, `WbContactProperties`, `WbMotor`, and `WbSkin` will now locally-download their resources if-necessary (like other nodes) when steaming or exporting to `w3d` ([#6856](https://github.com/cyberbotics/webots/pull/6856)).
    - Added implementations of `wbu_system_tmpdir` and `wbu_system_webots_instance_path` to the MATLAB API ([#6756](https://github.com/cyberbotics/webots/pull/6756)).
    - Added missing import libraries on Windows ([#6753](https://github.com/cyberbotics/webots/pull/6753)).
    - Added some missing function definitions to the existing Windows libraries ([#6753](https://github.com/cyberbotics/webots/pull/6753)).
    - Webots now prints the cause when it fails to create a memory-mapped file for a camera node ([#6896](https://github.com/cyberbotics/webots/pull/6896)).
    - Made the timestep algorithm more consistent when running in realtime mode ([#6898](https://github.com/cyberbotics/webots/pull/6898)).
    - The `immersionProperties` field of the Clearpath Heron USV robot is now exported, so users can modify it without changing the proto file ([#6961](https://github.com/cyberbotics/webots/pull/6961)).
    - Added a Blender-style mouse mode for 3D viewport navigation, selectable via Tools > Preferences > General ([#6971](https://github.com/cyberbotics/webots/pull/6971)).
    - Reduced the memory used while loading a world: the mesh normals optional rendering is no longer built and discarded for every mesh ([#7047](https://github.com/cyberbotics/webots/pull/7047)).
    - Reduced the memory used by meshes: identical vertices are uploaded to the GPU once, and the CPU copy of the mesh data is freed after the upload ([#7048](https://github.com/cyberbotics/webots/pull/7048)).
  - Cleanup
    - **Removed `libController.a` and `libCppController.a` libraries on Windows. Please use `Controller.lib` and `CppController.lib` instead ([#6753](https://github.com/cyberbotics/webots/pull/6753)).**
    - Unified the timestep values used in the template controllers across all languages to use the truncated value returned by `wb_robot_get_basic_time_step()` ([#7013](https://github.com/cyberbotics/webots/pull/7013)).
  - Bug Fixes
    - Fixed stale WREN camera frustums after reading view or projection matrices before culling ([#7043](https://github.com/cyberbotics/webots/pull/7043)).
    - Fixed a bug preventing the `webots-controller` executable from running on arm-based mac devices ([#6806](https://github.com/cyberbotics/webots/pull/6806)).
    - Fixed a typo in the `controller.PositionSensor` Python class: the `motor` property code was calling the wrong method ([#6825](https://github.com/cyberbotics/webots/pull/6825)).
    - Fixed a bug causing Webots to crash when multiple sounds were used with a [Speaker](speaker.md) node ([#6843](https://github.com/cyberbotics/webots/pull/6843)).
    - Fixed a bug causing the "Reload/Reset" buttons in the controller recompilation popup to not work on Windows ([#6844](https://github.com/cyberbotics/webots/pull/6844)).
    - Fixed resolution of relative paths when converting protos to their base nodes ([#6856](https://github.com/cyberbotics/webots/pull/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](https://github.com/cyberbotics/webots/pull/6856)).
    - Fixed a bug causing supervisors to occasionally read stale field values after the simulation was reset ([#6758](https://github.com/cyberbotics/webots/pull/6758)).
    - Fixed a bug causing Webots to occasionally crash when unloading a world ([#6857](https://github.com/cyberbotics/webots/pull/6857)).
    - Fixed a crash occurring when Python was not found on Windows ([#6870](https://github.com/cyberbotics/webots/pull/6870)).
    - Fixed detection of physics plugins in extra projects ([#6880](https://github.com/cyberbotics/webots/pull/6880)).
    - Fixed `addForceWithOffset` and `addTorque` doing the same thing as `addForce` in Python ([#6881](https://github.com/cyberbotics/webots/pull/6881)).
    - Fixed Python controllers on Windows ([#6933](https://github.com/cyberbotics/webots/pull/6933)).
    - OSM importer no longer crashes when run in 3d mode ([#6935](https://github.com/cyberbotics/webots/pull/6935)).
    - Fixed a crash in the OSM importer when a way has multiple layer values ([#7005](https://github.com/cyberbotics/webots/pull/7005)).
    - Fixed Java compilation deprecation warning and run-time warning ([#6936](https://github.com/cyberbotics/webots/pull/6936)).
    - Fixed controller signal handlers not restoring the original handler (e.g. CPython's) on exit ([#6945](https://github.com/cyberbotics/webots/pull/6945)).
    - The viewport now renders correctly on systems with fractional scaling enabled ([#6991](https://github.com/cyberbotics/webots/pull/6991)).
    - USE nodes are now validated before being inserted into the Scene Tree. This fixes some crashes when loading invalid world files ([#6997](https://github.com/cyberbotics/webots/pull/6997)).
    - Fixed a bug causing the "Plain/Wireframe Rendering" and "Follow Object > ..." buttons to incorrectly be shown as unchecked in certain circumstances ([#7000](https://github.com/cyberbotics/webots/pull/7000)).
    - SVG files are now served with the `image/svg+xml` MIME type instead of being rejected as an unsupported file type, so robot windows can use SVG images ([#7007](https://github.com/cyberbotics/webots/pull/7007)).
    - Fixed a crash when entering a quaternion with a negative scalar and a zero vector in the rotation editor ([#7009](https://github.com/cyberbotics/webots/pull/7009)).
    - Fixed textures referenced relative to the world file not loading in web streaming, and PROTO textures not loading when Webots is reached through a path-prefixed proxy ([#7015](https://github.com/cyberbotics/webots/pull/7015)).
    - Fixed a crash in the controller library when removing a node while pose tracking was enabled on another node. ([#7023](https://github.com/cyberbotics/webots/issues/7023)).
    - Fixed Default line scale too small for joint axis ([#7025](https://github.com/cyberbotics/webots/pull/7025))
    - Fixed torque feedback on ball joints ([#7028](https://github.com/cyberbotics/webots/pull/7028))
    - Fixed `Robot.getDevice` and `Robot.getDeviceByIndex` in the Python controller failing for devices added after the controller started, for example by a Supervisor import ([#7034](https://github.com/cyberbotics/webots/pull/7034)).
    - Fixed a bug preventing Webots from opening its TCP server on macOS 27, where every port was incorrectly reported as already in use ([#7032](https://github.com/cyberbotics/webots/pull/7032)).
    - Fixed duplicate light-intensity scaling in PBR diffuse lighting so it scales linearly with light intensity, with and without shadows ([#7036](https://github.com/cyberbotics/webots/pull/7036)).
      - **Existing scenes tuned around the previous response may need lighting adjustments when using intensities other than 0 or 1.**
- Dependency Updates
    - **Windows: switched from the MSYS2 MINGW64 environment to UCRT64. The Webots binaries and the bundled MinGW-w64 compiler are now located in `msys64\ucrt64` instead of `msys64\mingw64` ([#7033](https://github.com/cyberbotics/webots/pull/7033)).**
    - Windows: replaced the custom build of assimp 5.2.3 with the assimp package of MSYS2 ([#7033](https://github.com/cyberbotics/webots/pull/7033)).

## Webots R2025a
Released on January 31st, 2025.
  - New Features
    - **Change the name of the web scene format from `X3D` to `W3D` ([#6280](https://github.com/cyberbotics/webots/pull/6280)).**
    - Removed support for Ubuntu 20.04 "Focal Fossa" and added support for Ubuntu 24.04 "Noble Numbat" ([#6704](https://github.com/cyberbotics/webots/pull/6704)).
    - Removed support for macOS 11 "Big Sur" and added support for macOS 14 "Sonoma" ([#6580](https://github.com/cyberbotics/webots/pull/6580)).
    - Added the `indirectFieldAccess` tag to allow the `fields` variable to be used in proto templates without referencing a specific field ([#6614](https://github.com/cyberbotics/webots/pull/6614)).
    - Added a method to include all subtypes of a node type in a PROTO field restriction ([#6574](https://github.com/cyberbotics/webots/pull/6574)).
    - Improved the node field query api ([#6613](https://github.com/cyberbotics/webots/issues/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](https://github.com/cyberbotics/webots/pull/6642)).
    - Adapt QtToolTip text box for every Webots mode ([#6711](https://github.com/cyberbotics/webots/pull/6711)).
  - New Devices and Objects
    - Added a model of a silo and a field ditch ([#6289](https://github.com/cyberbotics/webots/pull/6289)).
    - Added a model of the Clearpath Heron USV robot ([#6548](https://github.com/cyberbotics/webots/pull/6548)).
  - Enhancements
    - Improved the image range of the rotating [Lidar](lidar.md) ([#6324](https://github.com/cyberbotics/webots/pull/6324)).
    - Show box-plane contact point normals when showing contact points ([#6678](https://github.com/cyberbotics/webots/pull/6678)).
    - Improved the speed and accuracy of box-plane collisions ([#6688](https://github.com/cyberbotics/webots/pull/6688)).
    - Enabled the launching of MATLAB desktop from the extern launcher ([#6366](https://github.com/cyberbotics/webots/pull/6366)).
    - Improved overlays visible in Overlays menu by adding all the robots in the menu list ([#6297](https://github.com/cyberbotics/webots/pull/6297)).
  - Cleanup
    - Removed deprecated `windowPosition`, `pixelSize` fields of [Display](display.md) node ([#6327](https://github.com/cyberbotics/webots/pull/6327)).
    - Remove ROS (1) support ([#6697](https://github.com/cyberbotics/webots/pull/6697)).
  - Bug Fixes
    - Fixed error message on Windows when `libssl-3-x64.dll` was added to `PATH` ([#6553](https://github.com/cyberbotics/webots/pull/6553)).
    - Fixed length of arrays returned by `getPose()` in Java ([#6556](https://github.com/cyberbotics/webots/pull/6556)).
    - Fixed length of arrays returned by `CameraRecognitionObject.getColors()` in Java ([#6564](https://github.com/cyberbotics/webots/pull/6564)).
    - Fixed handling of device objects with the same name in the controller API ([#6579](https://github.com/cyberbotics/webots/pull/6579)).
    - Fixed crashes (with some graphics cards) caused by references to unused GLSL uniforms ([#6587](https://github.com/cyberbotics/webots/pull/6587)).
    - Fixed `Brake`s added to the second axis of a `Hinge2Joint` being applied to the non-transformed axis ([#6584](https://github.com/cyberbotics/webots/pull/6584)).
    - Fixed invalid absolute sound file path resulted in crash ([#6593](https://github.com/cyberbotics/webots/pull/6593))
    - Fixed Speaker relative sound file path not working with external controller ([#6605](https://github.com/cyberbotics/webots/pull/6605)).
    - Fixed the bug that when the language is Python, getTargets() cannot correctly obtain the multi-target data detected by the radar ([#6606](https://github.com/cyberbotics/webots/pull/6606))
    - Fixed incomplete loading while minimized under some windowing systems ([#6617](https://github.com/cyberbotics/webots/pull/6617)).
    - Fixed unitialized sliding friction when using asymmetric rolling friction ([#6618](https://github.com/cyberbotics/webots/pull/6618)).
    - Made `supervisor_export_image` work even if using the `--minimize --no-rendering` options ([#6622](https://github.com/cyberbotics/webots/pull/6622)).
    - Fixed CA certificates needed by `test_suite.py` missing in Windows development environment ([#6628](https://github.com/cyberbotics/webots/pull/6628)).
    - Fixed to use a version of Qt that is still supported ([#6623](https://github.com/cyberbotics/webots/pull/6623)).
    - Fixed connection errors when using long robot names in some environments ([#6635](https://github.com/cyberbotics/webots/pull/6635)).
    - Fixed crash on macos when closing Webots under some circumstances ([#6635](https://github.com/cyberbotics/webots/pull/6635)).
    - Fixed error on macos when when putting displays and cameras in separate windows ([#6635](https://github.com/cyberbotics/webots/pull/6635)).
    - Fixed crash when `wb_supervisor_field_get_name` was called with NULL ([#6647](https://github.com/cyberbotics/webots/pull/6647)).
    - Fixed bug where the wrong y coordinate was used for one corner of the box drawn to represent a box-plane collision ([#6677](https://github.com/cyberbotics/webots/pull/6677)).
    - Fixed bug where the rotation axis of the omni wheel rollers were incorrect ([6710](https://github.com/cyberbotics/webots/pull/6710)).
    - Fixed a bug where Webots would crash if a geometry was inserted into a `Shape` node used a bounding box ([#6691](https://github.com/cyberbotics/webots/pull/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](https://github.com/cyberbotics/webots/pull/6701)).
    - Fixed a bug preventing nodes from being inserted into unconnected proto fields ([#6735](https://github.com/cyberbotics/webots/pull/6735)).
    - Fixed crash when an invalid HDR image was set as a world background ([#6744](https://github.com/cyberbotics/webots/pull/6744)).
    - Fixed handling of remote assets from unofficial sources ([#6585](https://github.com/cyberbotics/webots/pull/6585)).
    - Fixed the QtToolTip bug, where the text in the text box is not being displayed ([#6711](https://github.com/cyberbotics/webots/pull/6711)).
    - Fixed Python path for `libcar.dylib` and `libdriver.dylib` on macOS ([#6482](https://github.com/cyberbotics/webots/pull/6482)).
    - Avoided crash and provided better warnings when attempting to access PROTO nodes in a wrong way from the supervisor API ([#6473](https://github.com/cyberbotics/webots/pull/6473)).
    - Fixed errors loading template PROTO if the system user name, the project path, or the temporary directory path contains the `\` character ([#6288](https://github.com/cyberbotics/webots/pull/6288)).
    - Fixed Webots and libController version comparison not to take revisions into account ([#6315](https://github.com/cyberbotics/webots/pull/6315)).
    - Fixed translation, rotation and scale displayed in the Position tab of the Node viewer in the scene tree ([#6309](https://github.com/cyberbotics/webots/pull/6309)).
    - Replaced the [Mesh](mesh.md) bounding object of the ROSbot XL by [Boxes](box.md) ([#6326](https://github.com/cyberbotics/webots/pull/6326)).
    - Fixed a crash when [IndexedLineSet](indexedlineset.md) has `coord` but no `coordIndex` ([#6359](https://github.com/cyberbotics/webots/pull/6359)).
    - Fixed values returned by the [Receiver.getEmitterDirection](https://cyberbotics.com/doc/reference/receiver?tab-language=python#wb_receiver_get_emitter_direction) Python method ([#6394](https://github.com/cyberbotics/webots/pull/6394)).
    - Fixed recognition of omnidirectional cameras with fov > pi/2 in [WbObjectDetection] ([#6396](https://github.com/cyberbotics/webots/pull/6396)).
    - Fixed [ElevationGrid](elevationgrid.md) collisions not matching the displayed when the x and y dimensions are different ([#6412](https://github.com/cyberbotics/webots/pull/6412))
    - Fixed JNILIB_FLAGS relative reference for Java controllers ([#6501](https://github.com/cyberbotics/webots/pull/6501))