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<body style="margin: 2px; background-color: #F1F1F1" onload="showStartPage()"> 
  <div class="tree" onmouseout="clearLastLink()">
    <h3><a name="link0folder.0" class="el" href="en/welcome.htm">CoppeliaSim User Manual</a></h3>
      <p><img name="imgfolder.1" src="wb_img/minusnode.png" onclick="toggleFolder('folder.1')"><a name="link1folder.1" class="el" href="en/coppeliaSimFeatures.htm">Main features</a></p>
      <div id="folder.1" style="display:block">
        <p><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link2folder.1" href="en/overviewTranslations.htm">Overview in other languages</a></p>
      </div>
      <p><img src="wb_img/node.png"><a class="el" name="link3folder" href="en/versionInfo.htm">Version history</a></p>
      <p><img src="wb_img/node.png"><a class="el" name="link4folder" href="en/licensing.htm">Licensing</a></p>
      <p><img src="wb_img/node.png"><a class="el" name="link5folder" href="en/acknowledgments.htm">Acknowledgments</a></p>
      <p><img name="imgfolder.2" src="wb_img/plusnode.png" onclick="toggleFolder('folder.2')"><a name="link6folder.2" class="el" href="en/userInterface.htm">User interface</a></p>
      <div id="folder.2">
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link7folder.2" href="en/pagesAndViews.htm">Pages and views</a></p>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.2.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.2.1')"><a name="link8folder.2.1" class="el" href="en/coordinateDialog.htm">Position/orientation manipulation</a></p>
        <div id="folder.2.1">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link9folder.2.1" href="en/positionDialog.htm">Position dialog</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link10folder.2.1" href="en/orientationDialog.htm">Orientation dialog</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link11folder.2.1" href="en/objectMovement.htm">Object movement via the mouse</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link12folder.2" href="en/positionOrientationTransformation.htm">On positions and orientations</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link13folder.2" href="en/settings.htm">User settings</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link14folder.2" href="en/shortcuts.htm">Shortcuts</a></p>
      </div>
      <p><img name="imgfolder.3" src="wb_img/plusnode.png" onclick="toggleFolder('folder.3')"><a name="link15folder.3" class="el" href="en/scenesAndModels.htm">Scenes and models</a></p>
      <div id="folder.3">
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link16folder.3" href="en/scenes.htm">Scenes</a></p>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.3.1" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.3.1')"><a name="link17folder.3.1" class="el" href="en/models.htm">Models</a></p>
        <div id="folder.3.1">
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link18folder.3.1" href="en/modelDialog.htm">Model dialog</a></p>
        </div>
      </div>
      <p><img name="imgfolder.4" src="wb_img/plusnode.png" onclick="toggleFolder('folder.4')"><a name="link19folder.4" class="el" href="en/environment.htm">Environment</a></p>
      <div id="folder.4">
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link20folder.4" href="en/environmentPropertiesDialog.htm">Environment dialog</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link21folder.4" href="en/textureDialog.htm">Texture dialog</a></p>
      </div>
      <p><img name="imgfolder.5" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5')"><a name="link22folder.5" class="el" href="en/objects.htm">Scene objects</a></p>
      <div id="folder.5">
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.1')"><a name="link23folder.5.1" class="el" href="en/entities.htm">Entities</a></p>
        <div id="folder.5.1">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link24folder.5.1" href="en/collections.htm">Collections</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.2" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.2')"><a name="link25folder.5.2" class="el" href="en/sceneObjectPropertiesDialog.htm">Scene object dialog</a></p>
        <div id="folder.5.2">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link26folder.5.2" href="en/commonPropertiesDialog.htm">General scene object properties dialog</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link27folder.5" href="en/collidableObjects.htm">Collidable objects</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link28folder.5" href="en/measurableObjects.htm">Measurable objects</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link29folder.5" href="en/detectableObjects.htm">Detectable objects</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link30folder.5" href="en/viewableObjects.htm">Viewable objects</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link31folder.5" href="en/layerSelectionDialog.htm">Layer selection dialog</a></p>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.3" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.3')"><a name="link32folder.5.3" class="el" href="en/cameras.htm">Cameras</a></p>
        <div id="folder.5.3">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link33folder.5.3" href="en/cameraPropertiesDialog.htm">Camera dialog</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.4" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.4')"><a name="link34folder.5.4" class="el" href="en/lights.htm">Lights</a></p>
        <div id="folder.5.4">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link35folder.5.4" href="en/lightPropertiesDialog.htm">Light dialog</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.5" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.5')"><a name="link36folder.5.5" class="el" href="en/shapes.htm">Shapes</a></p>
        <div id="folder.5.5">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link37folder.5.5" href="en/shapeReferenceFrames.htm">Shape coordinate frame</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link38folder.5.5" href="en/primitiveShapes.htm">Primitive shapes</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.5.5.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.5.1')"><a name="link39folder.5.5.1" class="el" href="en/shapeProperties.htm">Shape dialog</a></p>
          <div id="folder.5.5.1">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link40folder.5.5.1" href="en/shapeDynamicsProperties.htm">Shape dynamics dialog</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link41folder.5.5.1" href="en/geometryDialog.htm">Shape geometry dialog</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.5.5.2" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.5.5.2')"><a name="link42folder.5.5.2" class="el" href="en/shapeEditModes.htm">Shape edit modes</a></p>
          <div id="folder.5.5.2">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link43folder.5.5.2" href="en/triangleEditMode.htm">Triangle edit mode</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link44folder.5.5.2" href="en/vertexEditMode.htm">Vertex edit mode</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link45folder.5.5.2" href="en/edgeEditMode.htm">Edge edit mode</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link46folder.5.5.2" href="en/groupedShapeEditMode.htm">Edit mode for compound shapes</a></p>
          </div>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.6" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.6')"><a name="link47folder.5.6" class="el" href="en/joints.htm">Joints</a></p>
        <div id="folder.5.6">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link48folder.5.6" href="en/jointModes.htm">Joint modes</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.5.6.1" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.5.6.1')"><a name="link49folder.5.6.1" class="el" href="en/jointProperties.htm">Joint dialog</a></p>
          <div id="folder.5.6.1">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link50folder.5.6.1" href="en/jointDynamicsProperties.htm">Joint dynamics dialog</a></p>
          </div>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.7" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.7')"><a name="link51folder.5.7" class="el" href="en/dummies.htm">Dummies</a></p>
        <div id="folder.5.7">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link52folder.5.7" href="en/dummyPropertiesDialog.htm">Dummy dialog</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.8" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.8')"><a name="link53folder.5.8" class="el" href="en/graphs.htm">Graphs</a></p>
        <div id="folder.5.8">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link54folder.5.8" href="en/graphPropertiesDialog.htm">Graph dialog</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.9" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.9')"><a name="link55folder.5.9" class="el" href="en/proximitySensors.htm">Proximity sensors</a></p>
        <div id="folder.5.9">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link56folder.5.9" href="en/proximitySensorDescription.htm">Proximity sensor types and mode of operation</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.5.9.1" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.5.9.1')"><a name="link57folder.5.9.1" class="el" href="en/proximitySensorPropertiesDialog.htm">Proximity sensor dialog</a></p>
          <div id="folder.5.9.1">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link58folder.5.9.1" href="en/proximitySensorVolumeDialog.htm">Proximity sensor volume dialog</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link59folder.5.9.1" href="en/proximitySensorDetectionParameterDialog.htm">Proximity sensor detection parameter dialog</a></p>
          </div>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.10" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.10')"><a name="link60folder.5.10" class="el" href="en/visionSensors.htm">Vision sensors</a></p>
        <div id="folder.5.10">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link61folder.5.10" href="en/visionSensorDescription.htm">Vision sensor types and mode of operation</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link62folder.5.10" href="en/visionSensorPropertiesDialog.htm">Vision sensor dialog</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.11" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.11')"><a name="link63folder.5.11" class="el" href="en/forceSensors.htm">Force sensors</a></p>
        <div id="folder.5.11">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link64folder.5.11" href="en/forceSensorPropertiesDialog.htm">Force sensor dialog</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.12" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.12')"><a name="link65folder.5.12" class="el" href="en/octrees.htm">OC trees</a></p>
        <div id="folder.5.12">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link66folder.5.12" href="en/octreePropertiesDialog.htm">OC tree dialog</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.13" src="wb_img/plusnode.png" onclick="toggleFolder('folder.5.13')"><a name="link67folder.5.13" class="el" href="en/pointClouds.htm">Point clouds</a></p>
        <div id="folder.5.13">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link68folder.5.13" href="en/pointCloudPropertiesDialog.htm">Point cloud dialog</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link69folder.5" href="en/paths.htm">Paths</a></p>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.5.14" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.5.14')"><a name="link70folder.5.14" class="el" href="en/scriptObjects.htm">Script objects</a></p>
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          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link71folder.5.14" href="en/simulationScripts.htm">Simulation scripts</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link72folder.5.14" href="en/customizationScripts.htm">Customization scripts</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link73folder.5.14" href="en/scriptEditor.htm">Script editor</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link74folder.5.14" href="en/scriptPropertiesDialog.htm">Script dialog</a></p>
        </div>
      </div>
      <p><img name="imgfolder.6" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6')"><a name="link75folder.6" class="el" href="en/functionality.htm">Functionality</a></p>
      <div id="folder.6">
        <p><img src="wb_img/vertline.png"><img name="imgfolder.6.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.1')"><a name="link76folder.6.1" class="el" href="en/geometricCalculations.htm">Geometry / mesh</a></p>
        <div id="folder.6.1">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link77folder.6.1" href="en/collisionDetection.htm">Collision detection</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link78folder.6.1" href="en/distanceCalculation.htm">Distance calculation</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.6.1.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.1.1')"><a name="link79folder.6.1.1" class="el" href="en/geometricPlugin.htm">Geometric plugin</a></p>
          <div id="folder.6.1.1">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link80folder.6.1.1" href="en/simGeom.htm?view=category">simGeom API reference</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.6.1.2" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.1.2')"><a name="link81folder.6.1.2" class="el" href="en/coppeliaGeometricRoutines.htm">Coppelia geometric routines</a></p>
          <div id="folder.6.1.2">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link82folder.6.1.2" href="en/coppeliaGeometricRoutines-api.htm?view=category">API reference</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.6.1.3" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.1.3')"><a name="link83folder.6.1.3" class="el" href="en/simConvex.htm?view=alphabetical">simConvex API reference</a></p>
          <div id="folder.6.1.3">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link84folder.6.1.3" href="en/convexHull.htm">Convex hull</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link85folder.6.1.3" href="en/convexDecomposition.htm">Convex decomposition</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link86folder.6.1" href="en/simOpenMesh.htm?view=alphabetical">simOpenMesh API reference</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link87folder.6.1" href="en/simIGL.htm?view=alphabetical">simIGL API reference</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.6.2" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.2')"><a name="link88folder.6.2" class="el" href="en/kinematics.htm">Kinematics</a></p>
        <div id="folder.6.2">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link89folder.6.2" href="en/solvingIkAndFk.htm">Solving IK and FK tasks</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.6.2.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.2.1')"><a name="link90folder.6.2.1" class="el" href="en/kinematicsPlugin.htm">Kinematics plugin</a></p>
          <div id="folder.6.2.1">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link91folder.6.2.1" href="en/simIK.htm?view=category">simIK API reference</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.6.2.2" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.6.2.2')"><a name="link92folder.6.2.2" class="el" href="en/coppeliaKinematicsRoutines.htm">Coppelia kinematics routines</a></p>
          <div id="folder.6.2.2">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link93folder.6.2.2" href="en/coppeliaKinematicsRoutines-api.htm?view=category">API reference</a></p>
          </div>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.6.3" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.3')"><a name="link94folder.6.3" class="el" href="en/dynamicsModule.htm">Dynamics</a></p>
        <div id="folder.6.3">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link95folder.6.3" href="en/designingDynamicSimulations.htm">Designing dynamic simulations</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.6.3.1" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.6.3.1')"><a name="link96folder.6.3.1" class="el" href="en/physicsEngineDifferences.htm">Physics engine differences</a></p>
          <div id="folder.6.3.1">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link97folder.6.3.1" href="en/simMujoco.htm">simMujoco API reference</a></p>
          </div>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.6.4" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.4')"><a name="link98folder.6.4" class="el" href="en/dataVisualizationAndOutput.htm">Data visualization/output</a></p>
        <div id="folder.6.4">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link99folder.6.4" href="en/externalFrontEnd.htm">Web-browser based front-end</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link100folder.6" href="en/dataTransformation.htm">Data manipulation/transformation</a></p>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.6.5" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.5')"><a name="link101folder.6.5" class="el" href="en/meansOfCommunication.htm">Messaging/interfaces/connectivity</a></p>
        <div id="folder.6.5">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.6.5.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.5.1')"><a name="link102folder.6.5.1" class="el" href="en/remoteApiOverview.htm">Remote API</a></p>
          <div id="folder.6.5.1">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link103folder.6.5.1" href="en/zmqRemoteApiOverview.htm">ZeroMQ remote API</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link104folder.6.5.1" href="en/wsRemoteApiOverview.htm">WebSocket remote API</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.6.5.2" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.5.2')"><a name="link105folder.6.5.2" class="el" href="en/rosInterfaces.htm">ROS Interfaces</a></p>
          <div id="folder.6.5.2">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.6.5.2.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.5.2.1')"><a name="link106folder.6.5.2.1" class="el" href="en/rosInterf.htm">ROS Interface</a></p>
            <div id="folder.6.5.2.1">
              <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link107folder.6.5.2.1" href="en/simROS.htm?view=alphabetical">simROS API reference</a></p>
            </div>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.6.5.2.2" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.6.5.2.2')"><a name="link108folder.6.5.2.2" class="el" href="en/ros2Interface.htm">ROS 2 Interface</a></p>
            <div id="folder.6.5.2.2">
              <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link109folder.6.5.2.2" href="en/simROS2.htm?view=alphabetical">simROS2 API reference</a></p>
            </div>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link110folder.6.5" href="en/simZMQ.htm?view=alphabetical">simZMQ API reference</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link111folder.6.5" href="en/simWS.htm?view=alphabetical">simWS API reference</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link112folder.6" href="en/pathsAndTrajectories.htm">Paths/trajectories</a></p>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.6.6" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.6')"><a name="link113folder.6.6" class="el" href="en/pathAndMotionPlanningModules.htm">Path planning</a></p>
        <div id="folder.6.6">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link114folder.6.6" href="en/simOMPL.htm?view=alphabetical">simOMPL API reference</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.6.7" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.7')"><a name="link115folder.6.7" class="el" href="en/syntheticVision.htm">Synthetic vision</a></p>
        <div id="folder.6.7">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link116folder.6.7" href="en/simIM.htm?view=alphabetical">simIM API reference</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link117folder.6.7" href="en/simVision.htm?view=category">simVision API reference</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.6.8" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.8')"><a name="link118folder.6.8" class="el" href="en/customUIPlugin.htm">Custom user interfaces</a></p>
        <div id="folder.6.8">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link119folder.6.8" href="en/simUI.htm?view=alphabetical">simUI API reference</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link120folder.6.8" href="en/simUI-widgets.htm">simUI XML syntax</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link121folder.6.8" href="en/simQML.htm?view=alphabetical">simQML API reference</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.6.9" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.9')"><a name="link122folder.6.9" class="el" href="en/importExport.htm">Import/export</a></p>
        <div id="folder.6.9">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link123folder.6.9" href="en/xmlFormat.htm">XML format</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.6.9.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.9.1')"><a name="link124folder.6.9.1" class="el" href="en/urdfPlugin.htm">URDF format</a></p>
          <div id="folder.6.9.1">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link125folder.6.9.1" href="en/simURDF.htm?view=alphabetical">simURDF API reference</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.6.9.2" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.9.2')"><a name="link126folder.6.9.2" class="el" href="en/sdfPlugin.htm">SDF format</a></p>
          <div id="folder.6.9.2">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link127folder.6.9.2" href="en/simSDF.htm?view=alphabetical">simSDF API reference</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link128folder.6.9" href="en/aviRecorder.htm">Video exporter</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link129folder.6.9" href="en/simAssimp.htm?view=alphabetical">simAssimp API reference</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link130folder.6.9" href="en/simGLTF.htm?view=alphabetical">simGLTF API reference</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link131folder.6.9" href="en/simLDraw.htm?view=alphabetical">simLDraw API reference</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.6.10" src="wb_img/plusnode.png" onclick="toggleFolder('folder.6.10')"><a name="link132folder.6.10" class="el" href="en/commandLine.htm">Commands/setting</a></p>
        <div id="folder.6.10">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link133folder.6.10" href="en/simCmd.htm?view=alphabetical">simCmd API reference</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.6.11" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.6.11')"><a name="link134folder.6.11" class="el" href="en/miscellaneousFunctionality.htm">Miscellaneous</a></p>
        <div id="folder.6.11">
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link135folder.6.11" href="en/simSurfRec.htm?view=alphabetical">simSurfRec API reference</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link136folder.6.11" href="en/simICP.htm?view=alphabetical">simICP API reference</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link137folder.6.11" href="en/simSubprocess.htm?view=alphabetical">simSubprocess API reference</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link138folder.6.11" href="en/simEigen.htm?view=alphabetical">simEigen API reference</a></p>
        </div>
      </div>
      <p><img name="imgfolder.7" src="wb_img/plusnode.png" onclick="toggleFolder('folder.7')"><a name="link139folder.7" class="el" href="en/writingCode.htm">Writing code</a></p>
      <div id="folder.7">
        <p><img src="wb_img/vertline.png"><img name="imgfolder.7.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.7.1')"><a name="link140folder.7.1" class="el" href="en/scripts.htm">Scripting</a></p>
        <div id="folder.7.1">
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.7.1.1" src="wb_img/plusnode.png" onclick="toggleFolder('folder.7.1.1')"><a name="link141folder.7.1.1" class="el" href="en/embeddedScripts.htm">Embedded scripts</a></p>
          <div id="folder.7.1.1">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link142folder.7.1.1" href="en/mainScript.htm">The main script</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link143folder.7.1" href="en/addOns.htm">Add-ons</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link144folder.7.1" href="en/sandboxScript.htm">The sandbox</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link145folder.7.1" href="en/threadedAndNonThreadedCode.htm">Threaded and non-threaded script code</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img name="imgfolder.7.1.2" src="wb_img/plusnode.png" onclick="toggleFolder('folder.7.1.2')"><a name="link146folder.7.1.2" class="el" href="en/callbackFunctions.htm">Callback functions</a></p>
          <div id="folder.7.1.2">
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link147folder.7.1.2" href="en/dynCallbackFunctions.htm">Dynamics callback functions</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link148folder.7.1.2" href="en/jointCallbackFunctions.htm">Joint callback functions</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link149folder.7.1.2" href="en/contactCallbackFunction.htm">Contact callback function</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link150folder.7.1.2" href="en/visionCallbackFunctions.htm">Vision callback functions</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link151folder.7.1.2" href="en/triggerCallbackFunctions.htm">Trigger callback functions</a></p>
            <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link152folder.7.1.2" href="en/userConfigCallbackFunctions.htm">User config callback functions</a></p>
          </div>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link153folder.7.1" href="en/scriptExecution.htm">Script execution order</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link154folder.7.1" href="en/buffers.htm">Buffers</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link155folder.7.1" href="en/luaPythonDifferences.htm">Lua vs Python scripts</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/vertline.png"><img src="wb_img/nodelast.png"><a class="el" name="link156folder.7.1" href="en/luaCrashCourse.htm">Lua crash course</a></p>
        </div>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link157folder.7" href="en/plugins.htm">Plugins</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link158folder.7" href="en/coppeliaSimLibrary.htm">CoppeliaSim's library</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link159folder.7" href="en/accessingSceneObjects.htm">Accessing scene objects programmatically</a></p>
        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link160folder.7" href="en/explicitHandling.htm">Explicit and non-explicit calls</a></p>
        <p><img src="wb_img/vertline.png"><img name="imgfolder.7.2" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.7.2')"><a name="link161folder.7.2" class="el" href="en/apisOverview.htm">CoppeliaSim API framework</a></p>
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          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link162folder.7.2" href="en/apiFunctions.htm">Regular API reference</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link163folder.7.2" href="en/apiConstants.htm">Regular API constants</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img name="imgfolder.7.2.1" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.7.2.1')"><a name="link164folder.7.2.1" class="el" href="en/properties.htm">Properties</a></p>
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      <p><img name="imgfolder.8" src="wb_img/plusnode.png" onclick="toggleFolder('folder.8')"><a name="link166folder.8" class="el" href="en/simulation.htm">Simulation</a></p>
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        <p><img src="wb_img/vertline.png"><img src="wb_img/node.png"><a class="el" name="link170folder.9" href="en/buildingAModelTutorial.htm">Building a clean model tutorial</a></p>
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        <p><img src="wb_img/vertline.png"><img name="imgfolder.9.1" src="wb_img/plusnodelast.png" onclick="toggleFolder('folder.9.1')"><a name="link176folder.9.1" class="el" href="en/rosTutorial.htm">ROS tutorials</a></p>
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          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/node.png"><a class="el" name="link177folder.9.1" href="en/ros1Tutorial.htm">ROS tutorial</a></p>
          <p><img src="wb_img/vertline.png"><img src="wb_img/blank.png"><img src="wb_img/nodelast.png"><a class="el" name="link178folder.9.1" href="en/ros2Tutorial.htm">ROS 2 tutorial</a></p>
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      <p><img src="wb_img/nodelast.png"><a class="el" name="link179folder" href="en/compilingCoppeliaSim.htm">Compiling CoppeliaSim</a></p>
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