Python Scripting

Choreonoid allows you to use the Python programming language. Python modules corresponding to the C++ libraries of Choreonoid are provided, and by using them you can write and execute various processes as Python scripts, such as constructing and manipulating projects, performing various operations with robot models, and running simulations. This chapter describes the Python scripting features.

• Overview of Python Scripting
  • What You Can Do with Python Scripting
  • Components of the Features
  • Preparation for Using Python Scripting
  • Using the Modules from Python Outside Choreonoid
• Python Console
  • What is the Python Console
  • Basic Usage
  • Entering Code that Spans Multiple Lines
  • Input Completion
  • Command History
• Writing Python Scripts
  • Basics
  • Manipulating Items
  • Example of Constructing a Project
  • Working with Simulations
  • Using the Qt Classes
  • How to Investigate Classes and Functions
  • Sample Scripts
• Python Script Item
  • What is the Python Script Item
  • Loading Scripts
  • Executing Scripts
  • Automatic Execution when Loading a Project
  • Background Execution
  • Item Properties
• Python Simulation Script
  • What is the Python Simulation Script
  • How to Use
  • Item Properties
• Executing Scripts from the Command Line
  • Executing Scripts at Startup
  • Combining with Project Files
  • Headless Execution without Showing the Window
  • Option to Load a Script as an Item