Command line

When you start CoppeliaSim via the command line, you have following command line options that are supported:

  • -h: runs CoppeliaSim in headless mode (i.e. without any GUI)
  • -sXXX: automatically start the simulation. XXX represents an optional simulation time in milliseconds after which simulation should stop again.
  • -q: automatically quits CoppeliaSim after the first simulation run ended.
  • -aXXX: loads and runs an additional add-on script specified via its filename (XXX). The add-on will be loaded and run only for the first scene.
  • -bXXX: loads and runs an additional add-on script specified via its filename (XXX). The add-on will be loaded and run for all the scenes that will be opened.
  • -GYYY=XXX: named parameter: YYY represents the key, XXX the value, that can be queried within CoppeliaSim with the simGetStringNamedParam.
  • -gXXX: XXX represents an optional argument that can be queried within CoppeliaSim with the sim_stringparam_app_arg parameter. The argument can be used for various custom purposes.
  • -gREMOTEAPISERVERSERVICE_PORT_DEBUG_PREENABLESYNC: the argument can be used to request a continuous legacy remote API server service to be started at CoppeliaSim start-up. For that to happen, replace in above string following:
  • PORT is the port number
  • DEBUG is the debug mode (set to TRUE or FALSE)
  • PREENABLESYNC allows to preenable the synchronous mode (set to TRUE or FALSE)
  • -gGUIITEMS_XXX: the argument can be used to disable specific GUI items. For that to happen, replace in above string XXX with a decimal bit-coded value taken from the start-up options.
  • XXX.ttt: loads a CoppeliaSim scene.
  • XXX.ttm: loads a CoppeliaSim model.
  • XXX.brs: loads an XReality scene.
  • XXX.brm: loads an XReality model.
  • For example, to start CoppeliaSim in headless mode, load the scene myScene.ttt, run the simulation for 5 seconds, then stop the simulation and automatically leave CoppeliaSim again, type from within the CoppeliaSim main folder:

    Windows: coppeliaSim.exe -h -s5000 -q myScene.ttt
    Mac: ./coppeliaSim.app/Contents/MacOS/coppeliaSim -h -s5000 -q ../../../myScene.ttt
    Linux: ./coppeliaSim.sh -h -s5000 -q myScene.ttt