Cross-Plattform and Portable

CoppeliaSim is cross-platform, and allows the creation of portable, scalable and easy maintainable content: a single portable file can contain a fully functional model (or scene), including control code.

5 Programming Approaches

Simulator and simulations are fully customizable, with 5 programming approaches that are mutually compatible and that can even work hand-in-hand. 7 supported programming languages.

Powerful APIs, 7 Languages

Regular API: Python, Lua & C/C++

Remote API: C/C++, Java, JavaScript, Python, Matlab, Octave

ROS interfaces: publishers, subscribers & service calls. Extendable

Remote API

Control a simulation or the simulator itself remotely (e.g. from a real robot or another PC)

Dynamics / Physics

5 physics engines (MuJoCo, Bullet Physics, ODE, Newton and Vortex Dynamics) for fast and customizable dynamics calculations, to simulate real-world physics and object interactions (collision response, grasping, etc.).

Inverse / Forward Kinematics

Inverse/forward kinematics calculations for any type of mechanism (branched, closed, redundant, containing nested loops, etc.). An embeddable version of the IK/FK algorithms is available.

Collision Detection

Fast interference checking between any meshe, octree, point cloud, or collection of those.

Minimum Distance Calculation

Fast and exact minimum distance calculation between any meshe (convex, concave, open, closed), octree, point cloud, or collection of those.

Soft Bodies

CoppeliaSim supports via the MuJoCo engine soft bodies, strings, ropes, cloths, etc.

Proximity Sensor Simulation

Powerful, realistic and exact volumetric proximity sensor simulation: performs an exact minimum distance calculation within a customizable detection volume. Operates on meshes, octrees and point clouds.

Vision Sensor Simulation

Simulation of vision sensors with many image processing options, fully customizable and extendable (e.g. via plugin).

Building Block Concept

Anything - from sensors or actuators, to whole robotic systems - can be built within CoppeliaSim by combining basic objects and linking various functionality via embedded scripts. Every scene object can have its own embedded script attached.

Path / Motion Planning

Path planning / motion planning is supported in a very flexible way via the OMPL library wrapped in a plugin for CoppeliaSim.

Data Recording & Visualization

A large variety of recordable data streams (including user-defined) can display time-graphs, or can be combined with each other to form x/y-graphs, or 3D curves.

Custom User Interfaces

Unlimited number of fully customizable user interface elements.

Integrated Edit Modes

Special mesh edit modes are supported (including a semi-automatic primitive shape extraction method, convex decomposition, mesh decimation, etc.)

Easy Data Import / Export

Many formats are supported: URDF, SDF, Collada, STL, DXF, OBJ, glTF, etc.

RRS Interface & Motion Library

The RRS-1 interface specifications are fully implemented, the Reflexxes Motion Library and the Ruckig Online Trajectory Generator are fully supported.

Full-Featured Scene Hierarchy

The scene composition is intuitively visualized in a scene hierarchy view, indicating object names, types, associated control scripts, loop closures, selection and visibility states, warnings, etc.

Convenient Model Browser

The integrated model browser supports drag-and-drop operations (also during simulation!) for convenient scene composition. The available model library, updated at each release, can be easily extended by the user.