Webots 4.0.21 officially released

Hi,

A new official version of Webots is available for download from the 
official place:

http://www.cyberbotics.com/products/webots/download.html

Webots 4.0.21 contains many improvements, bug fixes and stability 
enhancements. Please report us any problem you may find in this new 
release. Here is a copy of the ChangeLog since version 4.0.20:

    * 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)

Best regards,

-Olivier


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