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CoppeliaSim V4.1.0 released

We are happy to announce the release of CoppeliaSim V4.1.0 (formerly known as V-REP), the extendable robotics simulation toolkit with more than 10’000 downloads/month. Students and Universities may freely use CoppeliaSim with full functionality, no registration is required.

Some of the new features are:

  • built-in ROS2 Foxy Fitzroy interface (supports topics, services, actions, params, TF2 broadcast and image transport)
  • built-in ROS Noetic Ninjemys interface
  • built-in inverse/forward kinematics solver for any mechanism, now entirely scriptable
  • GLTF exporter for static scenes and animations
  • PyRep, a popular Python toolkit for robot learning research, is built on top of CoppeliaSim

Other features include:

  • Open source and cross platform (Windows, Ubuntu, MacOS)
  • Various interfaces, e.g. the remote API, available next to ROS2/ROS for connecting external controllers
  • API/bindings in C/C++, Lua, Python, Java, Matlab, Octave
  • Collision, min. distance and proximity sensor module, operating on meshes, point clouds and OC-trees
  • 4 physics engines (Bullet, ODE, Newton and Vortex)
  • Path/motion planning, via OMPL plugin
  • Extensive support for custom user interfaces (Qt-based)
  • Support for image processing, also via OpenCV
  • Advanced control via embedded distributed scripting
  • Extension and customization mechanisms via Add-ons and plugins
  • Complex applications can easily be built on top of CoppeliaSim, as illustrated in following video:
  • Support for: RRS-1, Reflexxes motion library, haptic devices, SDF / URDF / XML / OBJ / SDF / collada / etc. format support, etc.

For more information, please visit

Best regards,

Dr. Marc Freese, founder & CEO
Coppelia Robotics AG
Zurich, Switzerland

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