Changes in each release

1.7.0 (May 8, 2019)

  • Supported Ubuntu 18.04
  • Supported Visual C++ 2017
  • Added MulticopterPlugin to simulate multicopters
  • Added TrafficControlPlugin to simulate bad communication environment
  • Added SubProjectItem to share project items across multiple projects
  • Added LightingItem to set a light source in the virtual world
  • Improved GLVisionSimulatorItem to support wide viewing angle range sensors and omnidirectional cameras
  • Improved AGXDynamicsPlugin to support additional physical models such as wire-like objects and breakable joints
  • Improved SensorVisualizerItem to support various sensors
  • Improved BodyTrackingCameraItem to specify its target link
  • Improved the joint slider view to support the dial interface for joint displacements
  • Improved OpenRTMPlugin
  • The standard profile format is used to store / restore RT system configurations
  • Multiple name servers can be used simultaneously
  • The target nameserver can dynamically be changed by specifying the default nameserver of OpenRTM
  • Improved the visualization in the RTS Diagram View
  • Introduced the manual mode of the RTC state detection
  • Added the RTC configuration view
  • Added the OpenHRP model loader implemented using Choreonoid
  • Fix PhysXPlugin to support PhysX 3.4
  • Improved the body file format to specify textures
  • Introduced standard joystick mapping to enable different joystick devices to be used in the same way
  • Added sample robot models and their projects
  • Aizu Spider
  • Aizu Wheel
  • Quadcopter
  • Added the project and model files of the tunnel disaster response and recovery challenge at World Robot Summit 2018
  • Improve the API of SimpleController
  • Introduced fmtlib as a formatting library to replace boost.format
  • Modified the wrapping rules of the pybind11 version python wrappers
  • Modified the function names to get member object xxx to to getXxx()
  • Member object xxx can be accessed as property xxx
  • Supported the complete out-of-source build
  • Enabled to build Choreonoid as a ROS package in the Catkin environment
  • Added CMake configuration files for the plugin development
  • Fixed pkg-config files
  • Many other minor feature improvements and bug fixes

1.6.0 (October 31, 2017)

  • New model file format replacing the OpenHRP model file format
  • Mesh files of various formats including STL and Collada can be read as a part of body models
  • Introduced the concept of contact material for specifying a parameter set relating to the contact of an object pair
  • New controller API that enables a controller to specify which state variables to input and output
  • Introduced BodyIoRTCItem for directly creating an RTC for the model input / output
  • New rendering engine written in new OpenGL APIs and the GLSL shading language
  • New implementation of the Python bindings using the pybind11 library
  • Supported Python3
  • A beta version of the Lua language bindings using the Sol2 library
  • A beta version of AGXDynamicsPlugin to enable AGX Dynamics to be used as a physics engine for simulation
  • A beta version of SpringheadPlugin to enable the Springhead library to be used as a physics engine for simulation
  • A beta version of RokiPlugin to enable the Roki library to be used as a physics engine for simulation
  • Added sample models and projects
  • Other minor improvements and bug fixes

1.5.0 (July 13, 2016)

  • Improved the view / toolbar management system
  • Added GLVisionSimulatorItem, which simulates vision sensors such as cameras, RGBD cameras, and laser range sensors
  • Added A function to interactively apply force to an object being simulated using mouse dragging
  • Improved the stability the simulation performed by AISTSimulatorItem
  • Added PhysXPlugin, which enables nVidia PhysX to be used as a physics engine in simulation
  • Added WorldLogFileItem, which stores all the log data of a virtual world being simulated online
  • Generalization of collision detectors
  • Added BodyTrackingCameraItem, which provides a camera that automatically tracks a particular object in a virtual world
  • Added SensorVisualizerItem, which visualizes the states of sensors such as force sensors in a scene view
  • Added PointSetItem and MultiPointSetItem, which visualize point cloud data in a scene view
  • Added the Python scripting function, which enables users to control Choreonoid with a Python script
  • The source code of BalancerPlugin became a part of Choreonoid's main source code with the same license
  • Added samples
  • Supported both Qt4 and Qt5
  • The license was changed from LGPL to the MIT license
  • Other minor improvements and bug fixes

1.4.0 (August 29, 2013)

  • Improved the OpenRTM plugin to support simulation using RT-components
  • Added the Bullet plugin, which allows the use of the Bullet physics library as one of the simulation engines
  • Added the Media plugin for playing movie and audio files
  • Introduced a new SceneView implementation based on the pure OpenGL API
  • Supported cameras and lights defined in models on the new SceneView
  • Supported the simulation of the crawler mechanism
  • Path variables can be set and used in project files
  • Added the RIC30 robot model
  • Added sample projects for the new functions and models
  • A lot of other minor improvements
  • A lot of bug fixes
  • Refactoring the API of the Body library and plugin

1.3.1 (August 20, 2012)

  • Fixed a bug of reloading items
  • Fixed a bug of the execution file path detection on Mac OS X
  • Fixed a problem where a filename cannot be specified on file save dialogs on Mac OS X
  • Fixed a crash caused by ItemPropertyView

1.3.0 (July 29, 2012)

  • Improved the AIST Simulator
    • Improved the high-gain dynamics mode to be more accurate
    • Made the integration methods selectable
  • Improved the support for Mac OS X
    • Introduced relative path setting for shared libraries to make the binary files relocatable on the file system
    • Fixed the BalancerPlugin binary to be loadable
  • Supported Boost C++ libraries version 1.50
  • Fixed some other bugs

1.2.0 (July 20, 2012)

  • Supported Mac OS X (Only tested on Lion)
  • Added a general dynamics simulation function
  • Improved the robustness of the automatic dynamic balance adjustment
  • Improved the numerical inverse kinematics to be more robust
  • SceneView's sequential image output function for creating movies
  • Online viewer function whose API is same as OpenHRP3
  • Forward kinematics dragging for slide joints on SceneView
  • Added the Corba module and CorbaPlugin which support some CORBA functions
  • Supported Clang compiler
  • Ended the use of Boost.multi_array library which caused some problems
  • Removed the Eigen library source from the source archive
  • Fixed many other bugs

1.1.0 (December 30, 2011)

  • Supported internationalization
  • Messages can be translated into other languages
  • Added Japanese translations
  • International characters (any characters defined in Unicode) can be used in data and filenames in the Linux distributions based on UTF-8
  • Local character encoding (such as shift-jis) can be used in data and filenames in Windows
  • Added some scripts for handling gettext files
  • New graphical tool bar icons
  • New application icon
  • Fixed a compile error in Visual C++ 2010
  • Fixed some other bugs

1.0.0 (November 8, 2011)

This is the initial release version.