Update History

  • August 8, 2026

  • Added the section on the batch execution and the control of the termination to Executing Scripts from the Command Line, describing the batch execution with the newly introduced --batch option, what is handled as the processing running automatically, an example of executing a simulation and saving its result, writing a script in an event-driven manner, App.beginOngoingProcess for making the batch mode wait for your own processing, the return code, and what to do when the application does not exit

  • Updated the list of the command line options in Launch Methods. Added --batch and --non-interactive, and renamed --no-window to --headless. Also added the notes on the removed --test-mode and --quit options

  • Added the section on outputting messages to Writing Python Scripts, describing where the output of print goes, the output with MessageOut and the use of its types, and the flush of the messages

  • Added the section on updating the GUI while a script is processing to Writing Python Scripts, describing that the GUI is not updated while a script continues its processing and how to use App.updateGui

  • Added the section on where the messages are output to Python Console, describing the difference between the destination of the output of the code entered in the console and that of a callback registered from the console

  • Updated the section on working with simulations in Writing Python Scripts so that it assumes the termination by the --batch option. Also added the description that a loop must not be used to wait for the completion of time-consuming processing

  • Updated the description on automation in Running the GUI without Showing Windows Using a Virtual Display to use the --batch option

  • August 4, 2026

  • Added Python Binding Backend describing how to switch the backend of the Python bindings (nanobind and pybind11) and how to use free-threaded Python (the installation, the selection of the Python version, the build, and the preparation of a virtual environment including NumPy). Also updated Overview of Python Scripting and Optional Features to refer to this page

  • Added the descriptions of CHOREONOID_PYTHON_BINDING_BACKEND, which selects the backend of the Python bindings, and DISABLE_FREE_THREADED_PYTHON, which disables the automatic detection of free-threaded Python, to Optional Features

  • July 26, 2026

  • Added Project File Specification describing the structure of project files (the top-level composition, the description of items and their common keys, references by item identifiers, the states of views and toolbars, plugin-specific sections, the layout, and sub projects) and the mechanism of the schema version that is managed independently for each item type. Also updated the section on saving projects in Projects and Items to refer to this page

  • Added the section on the supported Ubuntu versions to Installation via Package (Ubuntu Linux), with a note that Ubuntu 26.04 is currently supported only by the development version

  • July 23, 2026

  • Revised BodySyncCamera, adding the description of the two usages (a camera tracking the robot and a camera mounted on the robot) and the section on using the camera as a robot-mounted camera, and adjusting the terminology and descriptions to be consistent with the other pages of the Basics of Robot/Environment Models chapter

  • Added Running the GUI without Showing Windows Using a Virtual Display describing how to run the GUI without showing windows using a virtual display such as Xvfb

  • Added the list of command line options to Launch Methods

  • Added the sections on the camera item and the lighting item to Scene Display, and adjusted BodySyncCamera so that it refers to the new section for the functions common to the camera item

  • Added Body Handler describing the body handler mechanism, the standard handler interfaces, how to implement and build handlers, and the samples

  • Added Available Mesh File Formats describing the list of the mesh file formats available for model shapes and how to load a mesh file by itself. The descriptions of the Resource node in Body File Reference Manual and the mesh node in URDF Model Files have also been updated to refer to this page

  • Added Linking Bodies by Parent-Child Relationships describing the position linkage of body items based on parent-child relationships (the coordinated and attached modes, and the examples of combining a robot and objects and of the hierarchical construction of environment models)

  • Added Ubuntu 26.04 to the supported platforms in Supported Platforms

  • Updated Graphics Environment Setup to match the recent situation, adding the description of the feature difference by the OpenGL version (the reversed depth buffer with 4.5 or later) and the section about the use on WSL, and renewing the instructions for installing the NVIDIA driver. The descriptions about the old rendering engine have been removed

  • Added Display Value Format Settings describing the settings of the units, the numbers of decimals, and the coordinate system with the DisplayValueFormatBar

  • July 22, 2026

  • July 21, 2026

  • July 18, 2026

  • Completely updated Qt-related Settings for current Qt environments on Windows and Ubuntu, reorganizing the instructions for display scaling, fonts, styles, platform themes, X11/Wayland, and related settings

  • July 6, 2026

  • Updated the descriptions under ROS 2 Integration in line with the migration of the ROS 2 integration package to the choreonoid_ros2 repository

  • June 23, 2026

  • June 1, 2026

  • May 1, 2026

  • Updated the description of the configuration dialog in Scene Display to match the latest version

  • April 29, 2026

  • April 22, 2026

  • April 21, 2026

  • Added PhysX Plugin

  • Added a build option for the PhysX plugin to Optional Features

  • Revised terminology throughout the documentation so that “crawler” is rendered as “track” or “continuous track” in accordance with standard English usage

  • April 20, 2026

  • October 20, 2025

  • October 17, 2025

  • September 8, 2025

  • September 4, 2025

  • August 15, 2025

  • Added supplementary notes regarding the installation method migration for Installing ROS 2

  • July 8, 2025

  • Translated the Japanese version as of July 8, 2025 to English