Tree

CoppeliaSim User Manual

Version history

Acknowledgments and credits

Overview in other languages

Pages and views

Custom UI XML syntax

Position/orientation manipulation

Position dialog

Orientation dialog

Object movement via the mouse

Scenes and models

Environment dialog

Entities (scene objects and collections)

Object properties

Object common properties

Collidable objects

Measurable objects

Detectable objects

Renderable objects

Viewable objects

Object selection dialog

Layer selection dialog

Camera properties

Light properties

Shape coordinate frame

Primitive shapes

Import and export

The Assimp plugin API

Convex decomposition

Shape properties

Shape dynamics properties

Material properties

Shape geometry dialog

Shape edit modes

Triangle edit mode

Vertex edit mode

Edit mode for compound shapes

Joint types and operation

Joint properties

Joint dynamics properties

Dynamics engines properties related to joints

Dummy functions

Dummy properties

Graph properties

XY graph and 3D curve dialog

Data stream types

Proximity sensors

Proximity sensor types and mode of operation

Proximity sensor properties

Proximity sensor volume dialog

Proximity sensor detection parameter dialog

Vision sensor types and mode of operation

Vision sensor properties

Force sensor property

Control points and Bezier points

Path position and length calculation methods

Movement along a path

Path properties

Importing and exporting paths

OC tree properties

Point cloud properties

Collection dialog

Calculation modules

Calculation module properties dialog

Collision detection

Distance calculation

Inverse kinematics

Basics on IK groups and IK elements

Solving IK and FK for any type of mechanism

Inverse kinematics dialog

IK element dialog

Designing dynamic simulations

General dynamics properties

Dynamics engines general properties

Writing code in and around CoppeliaSim

Embedded scripts

Simulation scripts

Main and child scripts

The main script

Customization scripts

Callback functions

Dynamics callback functions

Joint callback functions

Contact callback function

Vision callback functions

Trigger callback functions

User config callback functions

Script execution order

User parameters

The sandbox script

The main client application

Means of communication

Accessing objects programmatically

CoppeliaSim API framework

Regular API function list (alphabetical order)

Regular API function list (by category)

Object parameter IDs

Explicit and non-explicit calls

B0-based remote API

Enabling the B0-based remote API - client side

Enabling the B0-based remote API - server side

B0-based remote API modus operandi

Extending the B0-based remote API

B0-based remote API function list

B0-based remote API functions (C/C++)

B0-based remote API functions (Python)

B0-based remote API functions (Java)

B0-based remote API functions (Matlab)

B0-based remote API functions (Lua)

Legacy remote API

Enabling the remote API - client side

Enabling the remote API - server side

Remote API modus operandi

Extending the remote API

Remote API function list

Remote API constants

Remote API functions (C/C++)

Remote API functions (Python)

Remote API functions (Java)

Remote API functions (Matlab)

Remote API functions (Octave)

Remote API functions (Lua)

ROS Interface API

ROS2 Interface API

BlueZero Interface

BlueZero plugin API

Coppelia geometric routines

Coppelia kinematics routines

Other interfaces

Path/motion planning

The OMPL interface

Custom UI XML syntax

The CGAL plugin API

The ICP plugin API

The OpenCV plugin API

The Assimp plugin API

The Vision plugin API

Simple Image Processing API

API for Special Sensors

Simulation settings dialog

URDF importer plugin

SDF importer plugin

Collada importer/exporter plugin

Lua crash course

BubbleRob tutorial

Building a clean model tutorial

Line following BubbleRob tutorial

Inverse kinematics tutorial

Hexapod tutorial

External controller tutorial

Plugin tutorial

Robot language interpreter integration tutorial

Conveyor belt / caterpillar tutorial

Compiling CoppeliaSim