CoppeliaSim V4.5 released: Jacobian callbacks, IK visual debugging, Aruco markers, better URDF support, etc.

Marc · 2023-04-19T14:58:50.631Z

I am happy to announce a new release of the ROS and ROS2 enabled robotics simulator CoppeliaSim (formerly known as V-REP). Some of the new features are:

IK: Jacobian callbacks, null-space projections, visual debugging
Better URDF support, convex hull, convex decomp., mesh decimation
New MuJoCo functions for composite support
Aruco markers, mesh surface and volume calculations via libigl
LDR/MPD importer, improved precision, etc.

Other features of CoppeliaSim include:

Physics engines: MuJoCo, Bullet, ODE, Vortex and Newton
Kinematics: IK & FK for any mechanism, branched, closed, etc.
Connectivity: ROS, ROS2, webSockets, ZeroMQ, ZeroMQ remote API
Path/motion planning via OMPL
Import/Export: URDF, SDF, XML, GLTF, LDR, STL, OBJ, collada, etc.
Collision detection, minimum distance calculation
Languages (within): C/C++, Python, Lua
Languages (client): C/C++, Python, Java, MATLAB, Octave

For more information, please visit https://www.coppeliarobotics.com

Cheers,
Marc

system · 2023-05-19T14:59:02.278Z

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