Menu
Home
People
Places
Arts
History
Plants & Animals
Science
Life & Culture
Technology
Reference.org
CoppeliaSim
open-in-new
<p>CoppeliaSim, formerly known as V-REP, is a <a href="/facts/Robot_simulator/JMtUNjUm">robot simulator</a> used in industry, education and research. It was originally developed within Toshiba R&D and is currently being actively developed and maintained by Coppelia Robotics AG, a small company located in Zurich, Switzerland. </p><p>It is built around a distributed control architecture having <a href="/facts/Python_/YbuGqofa">Python</a> and <a href="/facts/Lua_/xkBCgta0">Lua</a> scripts, or <a href="/facts/C_/Ky2No763">C</a>/<a href="/facts/C%2B%2B/Et0F2qn9">C++</a> <a href="/facts/Plug-in_(computing)/351Du3Wu">plug-ins</a> acting as individual, synchronous controllers. Additional asynchronous controllers can execute in another process, thread or machine via various <a href="/facts/Middleware/HobNosz9">middleware</a> solutions (<a href="/facts/Robot_Operating_System/vWQLMAbT">ROS</a>, remote API, <a href="/facts/ZeroMQ/e8R8qTMX">ZeroMQ</a>) with programming languages such as C/C++, <a href="/facts/Python_/YbuGqofa">Python</a>, <a href="/facts/Java_/9ScgFyAL">Java</a> and <a href="/facts/Matlab/qPjLISCk">Matlab</a>. </p><p>CoppeliaSim uses a <a href="/facts/Kinematics/o7mSyeJA">kinematics</a> engine for forward and <a href="/facts/Inverse_kinematics/VzEVGnNy">inverse kinematics</a> calculations, and several physics simulation libraries (MuJoCo, <a href="/facts/Bullet_(software)/jPb2WxWy">Bullet</a>, <a href="/facts/Open_Dynamics_Engine/8739e20p">ODE</a>, <a href="/facts/Vortex_(software)/1kohG8SS">Vortex</a>, <a href="/facts/Newton_Game_Dynamics/muC0obos">Newton Game Dynamics</a>) to perform rigid body simulation. Models and scenes are built by assembling various objects (<a href="/facts/Polygon_mesh/6WLD80ER">meshes</a>, <a href="/facts/Joint_(mechanics)/9ctT76sU">joints</a>, various <a href="/facts/Sensors/RN8SXbjs">sensors</a>, <a href="/facts/Point_clouds/dN8eG4AU">Point clouds</a>, <a href="/facts/Octree/hNT74wvT">octrees</a>, etc.) into a hierarchical structure. Additional functionality, provided by <a href="/facts/Plug-in_(computing)/351Du3Wu">plug-ins</a>, include: <a href="/facts/Motion_planning/DoSPv4dB">motion planning</a> (via <a href="/facts/OMPL/Psnzj8Ha">OMPL</a>), <a href="/facts/Synthetic_vision_system/bJMywfDV">synthetic vision</a> and imaging processing (e.g. via <a href="/facts/OpenCV/V1tXAxyz">OpenCV</a>), <a href="/facts/Collision_detection/kXkE9WXv">collision detection</a>, minimum distance calculation, custom <a href="/facts/Graphical_user_interface/wBlQFWDP">graphical user interfaces</a> and Data visualization (e.g. via <a href="/facts/Plot_(graphics)/dxuSqKN9">plots</a>). </p><p>The main fields of application of CoppeliaSim are robotics research and education. </p>