CoppeliaSim V4.9.0 has been released

• Upgraded to MuJoCo V3.2.6, delivering a significant 2-10x simulation speed boost with notably faster scene rebuilds. Introduced MuJoCo's adhesion functionality and the simMujoco.addFlexcomp() function for grid-type flexcomp implementation, while deprecating previous composite types (rope, cube, cylinder, and ellipsoid) due to uncertain future support from MuJoCo. Simulation parameters were refined by setting the default armature value to 2 and switching to the new implicitfast integrator as the default. A new demo scene illustrates MuJoCo specific functionality: scenes/mujoco/demoScene.ttt
• simGetStackTableInfo(stackHandle, 0) now also returns a value >= 0 when the item at the top of the stack is a string or a buffer, which might require code adjustments in some cases. In a similar way, simGetStackUInt8Table, simGetStackInt32Table, simGetStackInt64Table, simGetStackFloatTable, simGetStackDoubleTable and simUnfoldStackTable now can also operate on a string or a buffer. It is recommended to always first verify the type of a stack item with simGetStackItemType, before using simGetStackTableInfo or simGetStackStringType
• Added a simple example scene: scenes/spot.ttt
• Improved the property explorer add-on [Modules > Developer tools > Property explorer]
• simStubsGen supports vector3d and quaternion types

See the manual for a full list of changes.

You can download the latest version of CoppeliaSim by heading to downloads.coppeliarobotics.com