Release 1.5.6
-------------

* to be used with Webots 5.9.2
* Correct a critical bug with the time: it is incrementing
  faster in Urbi than in Webots when commands are executed.
* Add an UObject to parse binary data in UBinary variables.
  Name of the UObject is UBinaryReader.
* Datas are now installed in the controllers folder, instead
  of in the data folder.

Release 1.5.5
-------------

* to be used with Webots 5.9
* Now avalaible under linux 64 bits (AMD)
* Webots worlds updated
* Urbi kernel 1.5 updated
* Update receiver device.

Release 1.5.4
-------------

* Change the paths where the data and the urbi controller are installed.
* Add Nao sample world.
* include an improved version of URBI kernel 1.5 (fixing major bugs including
  memory leaks).

Release 1.5.3
-------------

* Remove dependancy on libjpeg dynamic library.

Release 1.5.2
--------------

* correction of a bug in Gps device (.val value was always staying
  void)

Release 1.5.1
-------------

* to be used with Webots 5.7
* added RobotName object (see documentation for more informations).
* added Keyboard object (see documentation for more informations).

Release 1.50
------------

* to be used with Webots 5.6
* URBI4Webots integrates now URBI kernel 1.5 !
* added Accelerometter device (see documentation for more informations).
* added Emitter device (see documentation for more informations).
* added Receiver device (see documentation for more informations).
* changed Servo device interface.
 - Constructor takes a second argument: a boolean you have to set to
   true to enable force feedback
 - the force attribute change. Before it could be used to bypass the servo
   PID controller in webots (it used 'servo_set_force' function in Webots).
   Now it is not possible anymore, and the force attribute is the value
   retrieved with 'servo_get_motor_force_feedback' if you have enabled force
   feedback).
 - added PGain attribute, used to set the P parameter of Webots P-controller.
* changed Gps device interface
 - Now Webots Gps device is represented by 3 Gps objects in URBI,
   one object for each of the Gripper components.
 - Each Gps object has two attributes: "val" and "angle".
* Added 'xfov', 'yfov', 'near' and 'far' attributes to Camera device.
* Added a 'load' attribute to devices that can be enabled or disabled.
* Webots world modified to suppress warning messages.

SDK:

* there is a dependancy on boost library now to compile new uobjects. You
  need to have boost 1.34.1 installed on your computer.

Release 1.04
------------
* handle webots dongle
* add a demo of the aibo following the ball
  worlds/aibo_ers7_urbi_demo.wbt
* support webots 5.1.1

Release 1.03
------------
* Add SimulationController device
  This new uobject contains 3 functions only usable by a supervisor:
    - quit: quit the simulation
    - revert: restart the simulation
    - physicReset: reset the physic simulation

Release 1.02
------------
* new uobject SimulationController:
    This new uobject contains 3 functions only usable by a supervisor:
       - quit (): quit the simulation
       - revert (): restart the simulation
       - physicReset (): reset the physic simulation
    Read the documentation for more informations.

* use server -f option by default, ie launch the server in fast mode.

Release 1.01
------------
* bug fixes