DeepBlueRobotics · github-actions · Jun 15, 2025 · Jun 16, 2025 · Jun 24, 2025 · Jun 26, 2025
diff --git a/.atom-build.json b/.atom-build.json
diff --git a/.github/workflows/test_suite_mac.yml b/.github/workflows/test_suite_mac.yml
@@ -19,7 +19,7 @@ jobs:
     if: ${{ contains(github.event.pull_request.labels.*.name, 'test webots build') }}
     strategy:
       matrix:
-        os: [macos-13]
+        os: [macos-14]
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v3
@@ -33,7 +33,7 @@ jobs:
     if: ${{ github.event_name == 'push' || github.event_name == 'schedule' || contains(github.event.pull_request.labels.*.name, 'test distribution') || contains(github.event.pull_request.labels.*.name, 'test suite') }}
     strategy:
       matrix:
-        os: [macos-13]
+        os: [macos-14]
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v3
@@ -70,7 +70,7 @@ jobs:
     if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite mac') }}
     strategy:
       matrix:
-        os: [macos-13]
+        os: [macos-14]
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v3
@@ -103,7 +103,7 @@ jobs:
     if: ${{ always() && !contains(github.event.pull_request.labels.*.name, 'test distribution')  && !contains(github.event.pull_request.labels.*.name, 'test webots build') }}
     strategy:
       matrix:
-        os: [macos-13]
+        os: [macos-14]
     runs-on: ubuntu-latest
     steps:
     - name: Delete artifacts

diff --git a/.github/workflows/test_suite_windows.yml b/.github/workflows/test_suite_windows.yml
@@ -59,18 +59,15 @@ jobs:
     - uses: actions/setup-python@v4
       with:
         python-version: '3.11'
-    - name: Install Visual Studio 10 and OpenJDK 18
+    - name: Install OpenJDK 18
       shell: powershell
-      run: |
-        choco install -y openjdk --version=18.0.2
-        choco install -y visualcpp-build-tools
+      run: choco install -y openjdk --version=18.0.2
     - name: Install Webots Compilation Dependencies
       run: |
         export PYTHON_INSTALLATION_FOLDER=/C/hostedtoolcache/windows/Python
         export PYTHON_HOME=$PYTHON_INSTALLATION_FOLDER/3.11.`ls $PYTHON_INSTALLATION_FOLDER | grep '^3\.11\.[0-9]\+$' | cut -c6- | sort -n | tail -n1`/x64
         echo 'export JAVA_HOME=/C/Program\ Files/OpenJDK/`ls /C/Program\ Files/OpenJDK`' >> ~/.bash_profile
         echo 'export PYTHON_HOME='$PYTHON_HOME >> ~/.bash_profile
-        echo 'export VISUAL_STUDIO_PATH="/C/Program Files (x86)/Microsoft Visual Studio/2017"' >> ~/.bash_profile
         echo 'export INNO_SETUP_HOME="/C/Program Files (x86)/Inno Setup 6"' >> ~/.bash_profile
         echo 'export PATH=$PYTHON_HOME:$PYTHON_HOME/Scripts:$GITHUB_WORKSPACE/msys64/mingw64/bin:$GITHUB_WORKSPACE/bin/node:/mingw64/bin:/usr/bin:$JAVA_HOME/bin:$PATH' >> ~/.bash_profile
         export WEBOTS_HOME=$GITHUB_WORKSPACE
@@ -110,18 +107,15 @@ jobs:
     - uses: msys2/setup-msys2@v2
       with:
         update: false
-    - name: Install Visual Studio 10 and OpenJDK 18
+    - name: Install OpenJDK 18
       shell: powershell
-      run: |
-        choco install -y openjdk --version=18.0.2
-        choco install -y visualcpp-build-tools
+      run: choco install -y openjdk --version=18.0.2
     - name: Install Webots Compilation Dependencies
       run: |
         export PYTHON_INSTALLATION_FOLDER=/C/hostedtoolcache/windows/Python
         export PYTHON_HOME=$PYTHON_INSTALLATION_FOLDER/3.11.`ls $PYTHON_INSTALLATION_FOLDER | grep '^3\.11\.[0-9]\+$' | cut -c6- | sort -n | tail -n1`/x64
         echo 'export JAVA_HOME=/C/Program\ Files/OpenJDK/`ls /C/Program\ Files/OpenJDK`' >> ~/.bash_profile
         echo 'export PYTHON_HOME='$PYTHON_HOME >> ~/.bash_profile
-        echo 'export VISUAL_STUDIO_PATH="/C/Program Files (x86)/Microsoft Visual Studio/2017"' >> ~/.bash_profile
         echo 'export INNO_SETUP_HOME="/C/Program Files (x86)/Inno Setup 6"' >> ~/.bash_profile
         echo 'export PATH=$PYTHON_HOME:$PYTHON_HOME/Scripts:$GITHUB_WORKSPACE/msys64/mingw64/bin:$GITHUB_WORKSPACE/bin/node:/mingw64/bin:/usr/bin:$JAVA_HOME/bin:$PATH' >> ~/.bash_profile
         export WEBOTS_HOME=$GITHUB_WORKSPACE

diff --git a/.github/workflows/test_suite_windows_develop.yml b/.github/workflows/test_suite_windows_develop.yml
@@ -55,18 +55,15 @@ jobs:
     - uses: actions/setup-python@v4
       with:
         python-version: '3.11'
-    - name: Install Visual Studio 10 and OpenJDK 18
+    - name: Install OpenJDK 18
       shell: powershell
-      run: |
-        choco install -y openjdk --version=18.0.2
-        choco install -y visualcpp-build-tools
+      run: choco install -y openjdk --version=18.0.2
     - name: Install Webots Compilation Dependencies
       run: |
         export PYTHON_INSTALLATION_FOLDER=/C/hostedtoolcache/windows/Python
         export PYTHON_HOME=$PYTHON_INSTALLATION_FOLDER/3.11.`ls $PYTHON_INSTALLATION_FOLDER | grep '^3\.11\.[0-9]\+$' | cut -c6- | sort -n | tail -n1`/x64
         echo 'export JAVA_HOME=/C/Program\ Files/OpenJDK/`ls /C/Program\ Files/OpenJDK`' >> ~/.bash_profile
         echo 'export PYTHON_HOME='$PYTHON_HOME >> ~/.bash_profile
-        echo 'export VISUAL_STUDIO_PATH="/C/Program Files (x86)/Microsoft Visual Studio/2017"' >> ~/.bash_profile
         echo 'export INNO_SETUP_HOME="/C/Program Files (x86)/Inno Setup 6"' >> ~/.bash_profile
         echo 'export PATH=$PYTHON_HOME:$PYTHON_HOME/Scripts:$GITHUB_WORKSPACE/msys64/mingw64/bin:$GITHUB_WORKSPACE/bin/node:/mingw64/bin:/usr/bin:$JAVA_HOME/bin:$PATH' >> ~/.bash_profile
         export WEBOTS_HOME=$GITHUB_WORKSPACE

diff --git a/.github/workflows/tests_sources.yml b/.github/workflows/tests_sources.yml
@@ -34,14 +34,14 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-22.04, macos-14, windows-2019]
+        os: [ubuntu-22.04, macos-14, windows-2022]
         python: [3.9]
         include:
           - os: ubuntu-22.04
             DEPENDENCIES_INSTALLATION: "wget https://github.com/danmar/cppcheck/archive/refs/tags/2.14.2.tar.gz; tar -xf 2.14.2.tar.gz -C ~/; mkdir -p ~/cppcheck-2.14.2/build; cd ~/cppcheck-2.14.2/build; cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..; cmake --build . --config RelWithDebInfo; export PATH=~/cppcheck-2.14.2/build/bin:$PATH"
           - os: macos-14
             DEPENDENCIES_INSTALLATION: "brew tap-new --no-git $USER/local-cppcheck; brew extract --version=2.14.2 cppcheck $USER/local-cppcheck; brew install cppcheck@2.14.2; brew tap-new --no-git $USER/local-clang-format; brew extract --version=14.0.0 clang-format $USER/local-clang-format; brew install clang-format@14.0.0"
-          - os: windows-2019
+          - os: windows-2022
             DEPENDENCIES_INSTALLATION: "curl -LJO https://github.com/danmar/cppcheck/releases/download/2.14.1/cppcheck-2.14.1-x64-Setup.msi; powershell 'Start-Process msiexec -ArgumentList \"/quiet\",\"/passive\",\"/qn\",\"/i\",\"cppcheck-2.14.1-x64-Setup.msi\" -Wait'; choco uninstall -y llvm; choco install -y llvm --version=14.0.0; export PATH=$PATH:\"/c/Program Files/Cppcheck:/c/Program Files/LLVM/bin\""
     runs-on: ${{ matrix.os }}
     if: needs.job-skipper.outputs.should_skip != 'true'
@@ -52,7 +52,7 @@ jobs:
         echo "job_needed=true" >> "$GITHUB_OUTPUT"
       id: os_check
     - name: Set git to use LF
-      if: matrix.os == 'windows-2019'
+      if: matrix.os == 'windows-2022'
       run: |
         git config --global core.autocrlf false
         git config --global core.eol lf

diff --git a/.github/workflows/tests_sources_with_latest_cppcheck.yml b/.github/workflows/tests_sources_with_latest_cppcheck.yml
@@ -30,14 +30,14 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-22.04, macos-14, windows-2019]
+        os: [ubuntu-22.04, macos-14, windows-2022]
         python: [3.9]
         include:
           - os: ubuntu-22.04
             DEPENDENCIES_INSTALLATION: "sudo apt -y install cppcheck"
           - os: macos-14
             DEPENDENCIES_INSTALLATION: "brew install cppcheck; brew tap-new --no-git $USER/local-clang-format; brew extract --version=14.0.0 clang-format $USER/local-clang-format; brew install clang-format@14.0.0"
-          - os: windows-2019
+          - os: windows-2022
             DEPENDENCIES_INSTALLATION: "choco install -y cppcheck || true; choco uninstall -y llvm; choco install -y llvm --version=14.0.0; export PATH=$PATH:\"/c/Program Files/Cppcheck:/c/Program Files/LLVM/bin\""
     runs-on: ${{ matrix.os }}
     if: needs.job-skipper.outputs.should_skip != 'true'
@@ -48,7 +48,7 @@ jobs:
         echo "job_needed=true" >> "$GITHUB_OUTPUT"
       id: os_check
     - name: Set git to use LF
-      if: matrix.os == 'windows-2019'
+      if: matrix.os == 'windows-2022'
       run: |
         git config --global core.autocrlf false
         git config --global core.eol lf

diff --git a/.gitignore b/.gitignore
@@ -72,3 +72,6 @@ Thumbs.db
 
 # world thumbnail files
 .*.jpg
+
+# Claude.ai
+/.claude
diff --git a/.gitmodules b/.gitmodules
@@ -3,4 +3,5 @@
 	url = https://github.com/g-truc/glm.git
 [submodule "src/stb"]
 	path = src/stb
-	url = https://github.com/nothings/stb.git
+	url = https://github.com/omichel/stb.git
+	branch = patch-1
diff --git a/docs/css/webots-doc.css b/docs/css/webots-doc.css
@@ -917,6 +917,13 @@ body {
 .webots-doc g foreignObject div a {
   font-family: Tahoma, Arial, sans-serif;  /* mermaidjs is quite sensitive to the font used and it's size */
   font-size: 100%;
+  text-decoration: underline;
+}
+
+.webots-doc g foreignObject div a:active,
+.webots-doc g foreignObject div a:focus,
+.webots-doc g foreignObject div a:hover {
+  text-decoration: underline;
 }
 
 .webots-doc .mermaid {

diff --git a/docs/guide/preferences.md b/docs/guide/preferences.md
@@ -22,7 +22,7 @@ Note that this is the maximum number of threads allowed, but the actual number o
 - The **Python command** defines which Python command is invoked by Webots when starting a Python controller.
 The default value is `python`.
 It should work on most systems assuming that `python` is installed and available from the command line.
-On some systems, it may be useful to set it to `python3.7` for example if you want to launch the controllers with this specific version of Python.
+On some systems, it may be useful to set it to `python3.14` for example if you want to launch the controllers with this specific version of Python.
 Bear in mind that this value may be overridden by the content of a `runtime.ini` file of a Python controller that may redefine a specific Python command to launch that controller.
 - The **Extra project path** defines the paths to user folders similar to the `WEBOTS_HOME/projects` folder.
 These user folders should contain projects resources that can be used in the current project (such as PROTO nodes, controllers, textures, etc.).

diff --git a/docs/guide/using-java.md b/docs/guide/using-java.md
@@ -10,10 +10,10 @@ A complete description of these functions can be found in the reference guide wh
 
 ### Java and Java Compiler Installation
 
-In order to develop and run Java controllers for Webots it is necessary to have the 64-bit version of the Java Development Kit (JDK) version 1.8 or later.
+In order to develop and run Java controllers for Webots it is necessary to have the 64-bit version of the Java Development Kit (JDK) version 16 or later.
 
 The Java Development Kit (JDK) is free for personal and development use and it can be downloaded from the [Oracle Technology Network](http://www.oracle.com/technetwork/java/javase/downloads).
-Make sure you choose the most recent 64-bit release of the Standard Edition (SE) of the JDK version 8 or later.
+Make sure you choose the most recent 64-bit release of the Standard Edition (SE) of the JDK version 16 or later.
 Then, follow the installation instructions.
 
 The `java` command is the Java Virtual Machine (JVM); it is used to execute Java controllers in Webots.

diff --git a/docs/guide/using-python.md b/docs/guide/using-python.md
@@ -8,7 +8,7 @@ The Python API is currently composed of a set of about 25 classes having about 2
 The classes are either representations of a node of the scene tree (such as Robot, LED, etc.) or utility classes (such as Motion, ImageRef, etc.).
 A complete description of these functions can be found in the reference guide while the instructions about the common way to program a Python controller can be found in [this chapter](programming-fundamentals.md).
 
-The Python API of Webots supports Python versions from 3.7.
+The Python API of Webots supports Python versions from 3.8.
 
 Alternatively to the Webots built-in editor, [PyCharm](https://www.jetbrains.com/pycharm) can be used to edit and launch Python controllers, see the [Using PyCharm with Webots](using-your-ide.md#pycharm) chapter for a step-by-step procedure.
 

diff --git a/docs/reference/camera.md b/docs/reference/camera.md
@@ -791,16 +791,16 @@ namespace webots {
 from controller import Camera
 
 class Camera (Device):
-    def getImage(self):
-    def getImageArray(self):
+    def getImage(self) -> bytes:
+    def getImageArray(self) -> list[list[list[int]]]:
     @staticmethod
-    def imageGetRed(image, width, x, y):
+    def imageGetRed(image: bytes, width: int, x: int, y: int) -> int:
     @staticmethod
-    def imageGetGreen(image, width, x, y):
+    def imageGetGreen(image: bytes, width: int, x: int, y: int) -> int:
     @staticmethod
-    def imageGetBlue(image, width, x, y):
+    def imageGetBlue(image: bytes, width: int, x: int, y: int) -> int:
     @staticmethod
-    def imageGetGray(image, width, x, y):
+    def imageGetGray(image: bytes, width: int, x: int, y: int) -> int:
     # ...
 ```
 
@@ -895,8 +895,8 @@ Here is an example:
 
 <!-- -->
 
-> **Note** [Python]: The `getImage` function returns a `string`.
-This `string` is closely related to the `const char *` of the C API.
+> **Note** [Python]: The `getImage` function returns a byte array (`bytes`).
+This `bytes` is closely related to the `const char *` of the C API.
 `imageGet*`-like functions can be used to get the channels of the camera Here is an example:
 
 > ```python

diff --git a/docs/reference/changelog-r2025.md b/docs/reference/changelog-r2025.md
@@ -1,8 +1,31 @@
 # 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](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)).
+  - 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)).**
   - Bug Fixes
     - 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 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)).
 
 ## Webots R2025a
 Released on January 31st, 2025.

diff --git a/include/controller/c/webots/supervisor.h b/include/controller/c/webots/supervisor.h
@@ -224,10 +224,10 @@ void wb_supervisor_simulation_revert() WB_DEPRECATED;               // please us
 void wb_supervisor_load_world(const char *filename) WB_DEPRECATED;  // please use wb_supervisor_world_load() instead
 bool wb_supervisor_save_world(const char *filename) WB_DEPRECATED;  // please use wb_supervisor_world_save() instead
 
-// deprecated since Webots 8.6.0, plesae use wb_supervisor_field_remove_mf_item() instead
+// deprecated since Webots 8.6.0, please use wb_supervisor_field_remove_mf() instead
 void wb_supervisor_field_remove_mf_node(WbFieldRef field, int position) WB_DEPRECATED;
 
-// deprecated since Webots 8.0.0, plesae use wb_supervisor_simulation_reset_physics() instead
+// deprecated since Webots 8.0.0, please use wb_supervisor_simulation_reset_physics() instead
 void wb_supervisor_simulation_physics_reset() WB_DEPRECATED;
 
 // deprecated since Webots 8.4.0 please use wb_supervisor_movie_is_ready and wb_supervisor_movie_failed

diff --git a/lib/controller/matlab/.gitignore b/lib/controller/matlab/.gitignore
@@ -371,6 +371,8 @@ wbu_motion_set_time.m
 wbu_motion_stop.m
 wbu_system_getenv.m
 wbu_system_short_path.m
+wbu_system_tmpdir.m
+wbu_system_webots_instance_path.m
 WB_STDOUT.m
 WB_STDERR.m
 WB_CHANNEL_BROADCAST.m