<s>
CoppeliaSim	B-Application
,	O
formerly	O
known	O
as	O
V-REP	B-Application
,	O
is	O
a	O
robot	B-Application
simulator	I-Application
used	O
in	O
industry	O
,	O
education	O
and	O
research	O
.	O
</s>
<s>
It	O
is	O
built	O
around	O
a	O
distributed	O
control	O
architecture	O
having	O
Python	B-Language
and	O
Lua	B-Language
scripts	I-Language
,	O
or	O
C/C	O
++	O
plug-ins	B-Application
acting	O
as	O
individual	O
,	O
synchronous	O
controllers	O
.	O
</s>
<s>
Additional	O
asynchronous	O
controllers	O
can	O
execute	O
in	O
another	O
process	O
,	O
thread	O
or	O
machine	O
via	O
various	O
middleware	B-General_Concept
solutions	O
(	O
ROS	B-Application
,	O
remote	O
API	O
,	O
ZeroMQ	B-Operating_System
)	O
with	O
programming	O
languages	O
such	O
as	O
C/C	O
++	O
,	O
Python	B-Language
,	O
Java	B-Language
and	O
Matlab	B-Language
.	O
</s>
<s>
CoppeliaSim	B-Application
uses	O
a	O
kinematics	O
engine	O
for	O
forward	O
and	O
inverse	B-General_Concept
kinematics	I-General_Concept
calculations	O
,	O
and	O
several	O
physics	O
simulation	O
libraries	O
(	O
MuJoCo	O
,	O
Bullet	B-Application
,	O
ODE	B-Application
,	O
Vortex	O
,	O
Newton	B-Application
Game	I-Application
Dynamics	I-Application
)	O
to	O
perform	O
rigid	O
body	O
simulation	O
.	O
</s>
<s>
Models	O
and	O
scenes	O
are	O
built	O
by	O
assembling	O
various	O
objects	O
(	O
meshes	B-Algorithm
,	O
joints	O
,	O
various	O
sensors	B-Application
,	O
Point	B-Algorithm
clouds	I-Algorithm
,	O
OC	B-Data_Structure
trees	I-Data_Structure
,	O
etc	O
.	O
)	O
</s>
<s>
Additional	O
functionality	O
,	O
provided	O
by	O
plug-ins	B-Application
,	O
include	O
:	O
motion	O
planning	O
(	O
via	O
OMPL	B-Language
)	O
,	O
synthetic	B-General_Concept
vision	I-General_Concept
and	O
imaging	O
processing	O
(	O
e.g.	O
</s>
<s>
via	O
OpenCV	B-Language
)	O
,	O
collision	O
detection	O
,	O
minimum	O
distance	O
calculation	O
,	O
custom	O
graphical	B-Application
user	I-Application
interfaces	I-Application
and	O
Data	O
visualization	O
(	O
e.g.	O
</s>
<s>
via	O
plots	B-Application
)	O
.	O
</s>
<s>
The	O
main	O
fields	O
of	O
application	O
of	O
CoppeliaSim	B-Application
are	O
robotics	O
research	O
and	O
education	O
.	O
</s>
