hi, simulator_stage 1.1.0 has been released. This is the first release in what is expected to be a short-lived unstable release cycle. It's not recommended for most users. There's one big change with respect to 1.0.x: * Updated to Stage 3.2.2 as the underlying simulation library. Previously, simulator_stage was using a pre-3.0, unreleased version of Stage. With this update, we can enjoy the substantial improvements in interface and performance that have gone into Stage into the past several months. In addition, we can refer to the official Stage documentation (http://playerstage.sourceforge.net/doc/Stage-3.2.1/). If you give this release a try, please open tickets for any problems that you see. A note on .world files: the .world format has changed slightly with the move from pre-3.0 to 3.2.2. You'll need to update any .world files that you used with a previous version of simulator_stage. To help with this update, I put a quick-and-dirty script at stage/scripts/upgrade-world.sh. You should double-check the result of this script, and refer to the Stage documentation for details. brian.