# CoppeliaSim V4.1.0 released

**URL:** <https://discourse.openrobotics.org/t/coppeliasim-v4-1-0-released/15949>\
**Category:** ROS General\
**Tags:** release\
**Created:** [August 17, 2020, 4:31pm UTC](https://discourse.openrobotics.org/t/coppeliasim-v4-1-0-released/15949 "2020-08-17T16:31:11Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![Marc](https://avatars.discourse-cdn.com/v4/letter/m/8dc957/32.png) [@Marc](https://discourse.openrobotics.org/u/Marc)\
**Post date:** [August 17, 2020, 4:31pm UTC](https://discourse.openrobotics.org/t/coppeliasim-v4-1-0-released/15949/1 "2020-08-17T16:31:11Z")

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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: [https://youtu.be/MX3VXvZFk0U](https://youtu.be/MX3VXvZFk0U)
- Support for: RRS-1, Reflexxes motion library, haptic devices, SDF / URDF / XML / OBJ / SDF / collada / etc. format support, etc.

For more information, please visit [www.coppeliarobotics.com](http://www.coppeliarobotics.com)

Best regards,  
Marc

Dr. Marc Freese, founder & CEO  
Coppelia Robotics AG  
[https://www.coppeliarobotics.com](https://www.coppeliarobotics.com)  
Zurich, Switzerland