Changes in each release

2.5.0 (August 3, 2026)

• Supported Ubuntu 26.04

• Added MuJoCoPlugin

• Provided the MuJoCo simulator item, which performs physics computation with the MuJoCo physics engine

• Bundled the prebuilt library of MuJoCo 3.9.0

• Enabled the build by default

• Renewed BulletPlugin

• Newly implemented the plugin, which performs physics computation with version 3 of the Bullet physics engine

• Enabled the build by default when the Bullet library is detected

• Supported articulated models based on the multibody dynamics

• Supported the piecewise rigid simulation of continuous tracks

• Improved AISTSimulator

• Greatly improved the scalability by using a sparse matrix structure for the LCP

• Sped up the computation by caching the inverse of the free root inertia used in the test force computation

• Adjusted the default value of the maximum number of iterations of the Projected Gauss-Seidel (PGS) method

• Added the error criterion parameter for the convergence check of the PGS method

• Sped up the computation by reducing redundant contact points

• Stabilized the behavior by scaling the saturation of the contact depth correction to the target depth

• Supported the individual restitution settings of contact materials

• Added the property for the parallel collision detection (the number of collision detection threads)

• Improved the extra joints

  • Supported the hinge type

  • Supported the constraints between different bodies

• Improved AISTCollisionDetector

• Supported the exact collision detection between primitive shapes (sphere, cylinder, box, capsule, etc.)

• Sped up the detection by improving the parallelization for the collision detection pairs

• Supported the configuration of the collision detection parameters with the world item properties

• Improved ODEPlugin

• Enabled the build by default when the ODE library is detected

• Supported the individual friction and restitution settings of contact materials

• Supported the self-collision detection

• Added the selection of the collision space type

• Supported applying external forces to links

• Fixed the joint initialization for offset positions

• Fixed the surface velocity (the simplified simulation of continuous tracks)

• Added the option to approximate the inertia about the joint axis

• Improved the extra joints

  • Supported the fixed and hinge types

  • Supported the constraints between different bodies

• Improved PhysXPlugin

• Supported the individual friction and restitution settings of contact materials

• Supported the bitmask actuation modes and gated the velocity feedforward

• Supported the drive effort output

• Supported the extra joints between different bodies

• Fixed the surface velocity (the simplified simulation of continuous tracks)

• Improved the cleaning process of triangle meshes

• Organized the other simulation-related functions

• Unified the piecewise rigid continuous track devices of PhysXPlugin and BulletPlugin as PiecewiseRigidContinuousTrack

• Removed the sources of the experimental SpringheadPlugin and RokiPlugin

• Supported multiple simulator item types in the sample projects

• Added the Ball sample for checking the restitution

• Improved the rendering engine

• Improved the transparent rendering

  • Introduced the depth sorting of transparent objects

  • Achieved the per-pixel composition of transparent objects by introducing the depth peeling

  • Achieved the edge and wireframe rendering of transparent objects

• Improved the cast shadow rendering

  • Enabled the shadow of a directional light over the whole rendering range

  • Made the shadow map size (the shadow resolution) configurable

  • Fixed the striped noise caused by self-shadowing

• Improved the point cloud rendering

  • Sped up the rendering when the point cloud data grows

  • Supported the specification of the valid point range

  • Supported the shaded rendering using normals

• Improved the text rendering

  • Supported multiple lines

  • Supported the selection of the Sans / Mono font types

  • Fixed the problem that the number of available character types was severely limited

• Fixed the rendering of viewport overlays in high-DPI environments

• Fixed the problem that picking was disabled when the lightweight view change mode was enabled

• Eliminated the picking coordinate error at grazing angles

• Improved the visualization functions

• Improved the bounding box display of a body

  • Made the box fit tightly by using a convex-hull-based AABB

  • Introduced the property to always show the box

  • Changed the box color depending on the selection state

• Improved the visualization of collision lines

  • Made the line length, the line width, and the collision point marker display configurable with the world item properties

• Improved the mesh and image file I/O

• Supported reading and writing glTF / GLB files

• Natively implemented the Collada file loading to make it more stable and faster

• Fixed the triangulation of non-convex polygons

• Supported loading HDR image files

• Added the image item for displaying an image file in the image view

• Improved the model file I/O

• Enabled loading a self-contained URDF without path settings such as ROS_PACKAGE_PATH

• Supported loading xacro files on Windows

• Supported loading SDF

• Improved the body file writing

  • Supported the mesh output in glTF / GLB

  • Stabilized the behavior of copying the original files

• Improved the numerical inverse kinematics

• Stabilized the solution by adjusting joint angles to the equivalent ones closest to the initial state

• Added the option to keep the target link pose exactly

• Stabilized the angular velocity vector extraction when the rotation angle is near pi

• Supported nanobind for the Python bindings

• Improved the binary size and the runtime efficiency of the Python bindings

• Supported free-threaded Python

• Stabilized the object lifetime management

• Bundled nanobind 2.12.0

• Improved the project file I/O

• Introduced the project pack, which archives a set of project files into a single zip file

• Supported loading a project pack

• Improved the precision of the floating point numbers written to a file (12 significant digits for double values and nine for float values)

• Fixed the state saving of a body item so that the displacements of prismatic joints are stored in meter

• Changed the old camelCase keys of project files to the new snake_case ones (with backward compatibility)

• Improved WorldLogFileItem

• Made the archive for log playback a project pack

• Fixed the crash that occurred when RangeSensor was used

• Improved the GUI and others

• Added the find dialog to MessageView, which is operated with Ctrl+F, F3 and Shift+F3

• Kept the item selection states when items are moved in the item tree

• Reflected the display value format settings in the properties of LinkPropertyView

• Selected the Qt offscreen platform and EGL only when no window system is available

• Build-related changes

• Fixed the build errors with Qt 6.8 and the warnings with Qt 6.10

• Updated the bundled fast_float to version 8.2.10

• Updated the bundled xacro to version 1.14.20

• Updated the bundled pybind11 for Python 3.14

• Many other minor bug fixes, internal class improvements, code cleanups, translation catalog updates, etc.

2.4.0 (May 14, 2026)

• Improved the rendering engine

• Introduced a reversed depth buffer for OpenGL 4.6 or later, eliminating the need to set the far clipping distance

• Supported MSAA anti-aliasing

• Fixed the texture color blending algorithm

• Fixed an issue with grayscale texture rendering

• Supported highlighting of colliding objects

• Fixed a transparent rendering issue on certain environments

• Improved the scene view

• Supported an infinite far clipping distance mode

• Added anti-aliasing settings

• Made the field of view consistent when switching between perspective and orthographic cameras

• Allowed selection of the FOV direction from auto / vertical / horizontal

• Supported view fitting for external cameras (CameraItem / BodySyncCameraItem)

• Improved the headless mode (–no-window option)

• Supported environments without a window system (desktop environment)

• Used EGL for vision sensor simulation to support OpenGL hardware acceleration

• Fixed Ctrl+C handling

• Renewed the PhysXPlugin

• Added a new PhysXPlugin based on NVIDIA PhysX 5 (replacing the previous experimental plugin)

• Supported bundling PhysX 5.6.1 as a thirdparty library so that it can be built together with Choreonoid

• Supported simulation of continuous tracks (crawler mechanisms) using the PxContinuousTrack device

• Improved body-related processing

• Added a parent link property to BodyItem so that a child body can be synchronized with a specific link of its parent body

• Fixed issues in saving and restoring body states

• Improved numerical inverse kinematics to obtain solutions more robustly

• Optimized the forward kinematics computation for the remaining part after inverse kinematics

• Changed the friction coefficient calculation for material pairs to sqrt(r1*r2)

• Improved value display and unit handling

• Supported multi-unit display (day / hour / minute / second) for the time on TimeBar

• Raised the upper limit of the playback speed ratio on TimeBar from 99.9 to 999999.9

• Extended the configurable range of value display formats

• File-related improvements

• Supported loading TIFF image files in ImageIO

• Removed the 2 GB file size limit of WorldLogFileItem

• Fixed the handling of material tags in URDFBodyLoader to follow the de facto standard behavior

• Build-related changes

• Unified the required C++ standard to C++17 or later, and removed boost dependency in all environments

• Removed Python 2 support

• Added the debian directory and scripts for creating Debian packages

• Added OMPLPlugin as a foundation for motion planning functionality

• Many other minor bug fixes, internal class improvements, code cleanups, translation catalog updates, etc.

2.3.0 (September 9, 2025)

• Refactored GLVisionSimulatorItem

• Added GLVisionSimulatorPlugin and moved GLVisionSimulatorItem into it

• Separated the GLVisionSensorSimulator, GLVisionSensorScene and GLVisionSensorRenderingScreen classes from the implementation of GLVisionSimulatorItem

• Implemented simulation code for each sensor type as an independent class inheriting from GLVisionSensorSimulator

• Added background color and world light properties to GLVisionSimulatorItem

• Added GLCameraEffectPlugin

• Improved devices so that arbitrary parameters can be specified and accessed via the info member

• Added LivoxMid360Plugin for simulating the Livox Mid360 sensor

• Added CameraItem

• Improved ImageView so that the target image can be selected with a tab menu

• Improved SmokeDevice and SceneSmoke to allow specification of a tint color

• Implemented live playback function using WorldLogFileItem

• Supported displaying values and coordinate axis markers in the left-handed coordinate system

• Disabled edit operations that should not be performed during simulation

• Modified the default recording mode of SimulatorItem to tail recording mode to prevent unintended memory exhaustion due to long-running simulations

• Introduced animation for the view fitting action activated by the corresponding button on the scene bar

• Added a scene bar button to fit view to the objects of selected items

• Enabled scaling of PointSetItem

• Introduced a mode to limit joint displacements in kinematics operations

• Implemented an option to preserve the local coordinate system in LocationView

• Improved model file export functionality

• Implemented a function to export the scene of selected renderable items as an OBJ mesh file

• Fixed crashes when Choreonoid is invoked with maximized window state on Qt6 and Wayland platforms

• Added the debian directory for creating deb packages

• Added an environment setup script for non-standard installation paths

• Supported PS5 and Xbox gamepads

• Improved the Python bindings

• Various minor feature improvements, bug fixes, and internal implementation enhancements

2.2.0 (July 11, 2024)

• Added support for Ubuntu 24.04

• Added support for Qt6

• Added support for C++20

• Enabled a toolbar for setting display format of numerical units and precision in GUI

• Added the link mass summary view

• Improved the movie recorder * Always display the marker within the target view * Allow cancellation of recording even during recording

• Added support for loading mesh files in ROS 2 packages

• Fixed bugs in YAML file output

• Fixed a bug in URDF file loading

• Fixed a bug related to sensor value updates in simulation

• Fixed a bug related to high DPI display environments

• Improved icon image resolution for high DPI display environments

• Updated pybind11 to version 2.10.3

• Updated the bundled fmtlib to version 11.0.0

• Updated the bundled Eigen library to version 3.4.0

• Various minor feature improvements, bug fixes, and internal implementation enhancements

2.1.1 (March 21, 2024)

• Improve the plugin path management

• Add the command line option “–add-plugin-dir-as-prefix”. A plugin path can be added in the installation prefix directory of a module installed separately from Choreonoid itself.

• Improve SimpleControllerItem to support additional controller directories in the plugin path

2.1.0 (March 17, 2024)

• Improved the function to write a body / scene file

• Improved the URDF loader

• Improved the OBJ mesh file loader

• Fixed the recording toggle button in MovieRecorderBar so that toggle-off to stop recording can be processed during recording

• Fixed the FPS test button in the SceneView config dialog so that click to cancel the test can be processed during testing

• Fixed the dial widgets in JointDisplacementView to work correctly

• Improved LocationView to support SceneItem and PointSetItem

• Improved the distance measurement function to support SceneItem and PointSetItem

• Added BodyPoseItem and BodyPoseListItem for recording body poses

• Added the conveyor device and improve KinematicSimulatorItem to support it

• Enabled GUI operations on multiplex bodies

• Added a function to convert a point set to a mesh to PCLPlugin

• Removed SDFPlugin

• Replaced boost.program_options with CLI11

• Removed dependency on the boost C++ library

• Improved the package.xml configuration for building with ROS 2

• Many other minor feature improvements and bug fixes

2.0.0 (August 4, 2023)

• Support for Ubuntu 20.04 and 22.04

• Support for Visual C++ 2019 and 2022

• Support for Clang

• Discontinued support for Qt4

• Added the following plugins:

• ManipulatorPlugin

• BodyMotionFilterPlugin

• MocapPlugin

• Made building of the following plugins optional:

• PoseSeqPlugin

• BalancerPlugin

• Removed the following modules and plugins (note: some plugins have been separated into different repositories):

• OpenRTMPlugin

• OpenHRPPlugin

• GrxUIPlugin

• ScenarioPlugin

• RobotAccessPlugin

• Hrpsys31Plugin

• Added the following views:

• LocationView

• LinkPositionView

• LinkDeviceView

• HumanoidPoseFetchView

• Added the following project items:

• KinematicsSimulatorItem

• MaterialTableItem

• BodyContactPointLoggerItem

• BodyStateLoggerItem

• RegionIntrusionDetectorItem

• Improved SceneView and rendering engine:

• Enabled GLSLSceneRenderer by default

• Fixed texture rendering bugs

• Introduced lightweight rendering mode

• Introduced low GPU memory consumption mode

• Shadow rendering support for Radeon

• Implemented vertex rendering mode and solid-wireframe rendering mode

• Enhanced highlighting style for selected/focused objects in the scene

• Added text rendering support

• Support for high DPI displays

• Improved operation dragger

• Introduced BodyHandler for customization of specific processing code for Body:

• Added JointPathConfigurationHandler for handling robot arm configurations

• Added LinkedJointHandler to enable kinematics operations for parallel link models

• Deprecated BodyCustomizer previously used for this purpose

• Improved Python bindings:

• Enhanced Python bindings implemented in pybind11

• Removed Python plugins and bindings implemented in boost.python

• Enhanced model loading and writing features:

• Support for reading URDF files

• Support for reading and writing OBJ mesh files

• Speeded up STL mesh file loader

• Support for writing Body files

• Support for writing in Choreonoid standard scene file format

• Sample-related improvements:

• Added HRP-4C model and samples

• Added Universal Robot models

• Fixed WRS2018 Tunnel models

• GLVisionSimulatorItem now supports sensor noise

• Added distance measurement function

• Ability to integrate multiple body items into a composite body

• Improved item context menu

• Reflected parent-child relationship of body items in body position editing

• Improved file dialog

• Corrected default layout of main window

• Multi-layout registration and switching for the main window

• Confirmation dialog at project loading, saving, and exit

• Updated toolbar icons

• Unified Undo/Redo functionality

• Improved choreography feature

• Maintenance of CMake files for program build outside choreonoid source

• Numerous other feature improvements and bug fixes

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.