The user manual is included in the downloadable CoppeliaSim packages
CoppeliaSim User Manual
The robot simulator CoppeliaSim, with integrated development environment, is based on a distributed control architecture: each object/model can be individually controlled via an embedded script, a plugin, ROS / ROS2 nodes, BlueZero nodes, remote API clients, or a custom solution. This makes CoppeliaSim very versatile and ideal for multi-robot applications. Controllers can be written in C/C++, Python, Java, Lua, Matlab, Octave or Urbi.
Following are just a few of CoppeliaSim's applications:
CoppeliaSim can be used as a stand-alone application or can easily be embedded into a main client application: its small footprint and elaborate API makes CoppeliaSim an ideal candidate to embed into higher-level applications. An integrated Lua script interpreter makes CoppeliaSim an extremely versatile application, leaving the freedom to the user to combine the low/high-level functionalities to obtain new high-level functionalities.
A good way to get a quick start with CoppeliaSim is to have a look at the tutorial section first.
Refer also to CoppeliaSim's overview description in other languages: English, Deutsch (German), Français (French), Italiano (Italian), Español (Spanish), Türkçe (Turkish), Português (Portugues), 日本語 (Japanese), 한국어 (Korean), 简体中文(simplified Chinese), 繁体中文(traditional Chinese).