Main features
Overview in other languages
Version history
Licensing
Acknowledgments
User interface
Pages and views
Position/orientation manipulation
Position dialog
Orientation dialog
Object movement via the mouse
On positions and orientations
User settings
Shortcuts
Scenes and models
Scenes
Models
Model dialog
Environment
Environment dialog
Texture dialog
Scene objects
Entities
Collections
Scene object dialog
General scene object properties dialog
Collidable objects
Measurable objects
Detectable objects
Viewable objects
Layer selection dialog
Cameras
Camera dialog
Lights
Light dialog
Shapes
Shape coordinate frame
Primitive shapes
Shape dialog
Shape dynamics dialog
Shape geometry dialog
Shape edit modes
Triangle edit mode
Vertex edit mode
Edge edit mode
Edit mode for compound shapes
Joints
Joint modes
Joint dialog
Joint dynamics dialog
Dummies
Dummy dialog
Graphs
Graph dialog
Proximity sensors
Proximity sensor types and mode of operation
Proximity sensor dialog
Proximity sensor volume dialog
Proximity sensor detection parameter dialog
Vision sensors
Vision sensor types and mode of operation
Vision sensor dialog
Force sensors
Force sensor dialog
OC trees
OC tree dialog
Point clouds
Point cloud dialog
Paths
Script objects
Simulation scripts
Customization scripts
Script editor
Script dialog
Functionality
Geometry / mesh
Collision detection
Distance calculation
Geometric plugin
simGeom API reference
Coppelia geometric routines
API reference
simConvex API reference
Convex hull
Convex decomposition
simOpenMesh API reference
simIGL API reference
Kinematics
Solving IK and FK tasks
Kinematics plugin
simIK API reference
Coppelia kinematics routines
Dynamics
Designing dynamic simulations
Physics engine differences
simMujoco API reference
Data visualization/output
Web-browser based front-end
Data manipulation/transformation
Messaging/interfaces/connectivity
Remote API
ZeroMQ remote API
WebSocket remote API
ROS Interfaces
ROS Interface
simROS API reference
ROS 2 Interface
simROS2 API reference
simZMQ API reference
simWS API reference
Paths/trajectories
Path planning
simOMPL API reference
Synthetic vision
simIM API reference
simVision API reference
Custom user interfaces
simUI API reference
simUI XML syntax
simQML API reference
Import/export
XML format
URDF format
simURDF API reference
SDF format
simSDF API reference
Video exporter
simAssimp API reference
simGLTF API reference
simLDraw API reference
Commands/setting
simCmd API reference
Miscellaneous
simSurfRec API reference
simICP API reference
simSubprocess API reference
simEigen API reference
Writing code
Scripting
Embedded scripts
The main script
Add-ons
The sandbox
Threaded and non-threaded script code
Callback functions
Dynamics callback functions
Joint callback functions
Contact callback function
Vision callback functions
Trigger callback functions
User config callback functions
Script execution order
Buffers
Lua vs Python scripts
Lua crash course
Plugins
CoppeliaSim's library
Accessing scene objects programmatically
Explicit and non-explicit calls
CoppeliaSim API framework
Regular API reference
Regular API constants
Properties
Properties reference
Simulation
Simulation dialog
Tutorials
BubbleRob tutorial
Building a clean model tutorial
Line following BubbleRob tutorial
Inverse kinematics tutorial
External controller tutorial
Plugin tutorial
Robot language interpreter integration tutorial
ROS tutorials
ROS tutorial
ROS 2 tutorial
Compiling CoppeliaSim
Accessing scene objects programmaticallyAccessing scene objects programmatically