This content originally appeared on DEV Community and was authored by Chris
This guide provides a complete workflow for integrating a manually downloaded CoppeliaSim package into your Ubuntu system.
It covers moving it to a system-wide directory, making it runnable from the terminal, and adding a proper application launcher to your dock (taskbar).
We will assume you have already downloaded and extracted the CoppeliaSim folder, for example, to
~/Downloads/CoppeliaSim_Edu_V4_x_x_Ubuntu...
Part 1: Move CoppeliaSim to a System-wide Location
Using a standard location like /usr/local keeps your home directory clean and is a common practice for manually installed software.
- Move the Folder
Open a terminal and move the extracted folder to /usr/local/CoppeliaSim. You will need sudo permissions.
# Adjust the source path to match your downloaded folder name
sudo mv ~/Downloads/CoppeliaSim_Edu_V4_x_x_Ubuntu... /usr/local/CoppeliaSim
`
- Adjust Ownership
Change the ownership of the folder to your user. This allows you to run it without sudo and makes it easier to manage.
bash
# Replace $USER with your username (or just use the $USER variable)
sudo chown -R $USER:$USER /usr/local/CoppeliaSim
Part 2: Set Up Command-Line Access
This allows you to type coppeliasim in your terminal to launch the application from any directory.
- Create a Symbolic Link
Link the executable script to a location in your system's PATH.
bash
sudo ln -s /usr/local/CoppeliaSim/coppeliaSim.sh /usr/local/bin/coppeliasim
You can now test this by typing:
bash
coppeliasim
- (Optional) Set Environment Variable
Some integrations (like ROS or Python APIs) expect a COPPELIASIM_ROOT environment variable.
Add this to your shell configuration file (e.g., ~/.bashrc or ~/.zshrc).
bash
echo 'export COPPELIASIM_ROOT=/usr/local/CoppeliaSim' >> ~/.bashrc
# Apply the changes to your current terminal session
source ~/.bashrc
Part 3: Create a Desktop Launcher (Dock Icon)
This creates a clickable icon in your Show Applications menu, which you can then pin to your dock.
Step 3.1: Download and Place a Logo
The default .desktop file may not have a high-quality icon. We can download one and place it in the installation directory.
- Download the Logo
bash
wget -O ~/Downloads/logo.png https://user-images.githubusercontent.com/8070210/114549467-5793d900-9c61-11eb-88f2-24996a6c03e6.png
- Create the Icon Folder
We'll place the logo inside the helpFiles directory. The -p flag creates parent directories if needed.
bash
sudo mkdir -p /usr/local/CoppeliaSim/helpFiles
- Move and Secure the Logo
bash
sudo mv ~/Downloads/logo.png /usr/local/CoppeliaSim/helpFiles/logo.png
sudo chown $USER:$USER /usr/local/CoppeliaSim/helpFiles/logo.png
sudo chmod 644 /usr/local/CoppeliaSim/helpFiles/logo.png
Step 3.2: Create the .desktop File
Application launchers are defined by .desktop files. We will create one for the current user.
bash
nano ~/.local/share/applications/CoppeliaSim.desktop
Step 3.3: Edit the .desktop File Content
Paste the following into the editor:
ini
[Desktop Entry]
Name=CoppeliaSim
Comment=Robotics simulation software
Exec=/usr/local/CoppeliaSim/coppeliaSim.sh
Icon=/usr/local/CoppeliaSim/helpFiles/logo.png
Terminal=false
Type=Application
Categories=Science;Education;Robotics;
StartupWMClass=CoppeliaSim
Field Explanations
- Name: The name that appears in the applications menu.
- Exec: The absolute path to the launch script.
- Icon: The absolute path to the icon file we just moved.
-
Terminal:
falsebecause this is a GUI application. - Categories: Helps the app show up in the correct menu categories.
- StartupWMClass: Ensures the dock recognizes the app window correctly (prevents duplicate icons).
Save and exit nano:
text
Ctrl + O, Enter, Ctrl + X
Step 3.4: Find the Correct StartupWMClass (Optional but Recommended)
The value CoppeliaSim is often correct, but this can vary.
If you get a duplicate icon on your dock, follow these steps:
- Launch CoppeliaSim:
bash
coppeliasim
- In another terminal, run:
bash
xprop | grep WM_CLASS
Click on the running CoppeliaSim window.
The terminal will output something like:
WM_CLASS(STRING) = "some-string", "CoppeliaSim"
- The second value (e.g.,
"CoppeliaSim") is what you should use forStartupWMClassin your.desktopfile.
Step 3.5: Make Executable and Add to Dock
- (Optional) Make Executable
Some systems require the .desktop file to be executable.
bash
chmod +x ~/.local/share/applications/CoppeliaSim.desktop
- Add to Favorites (Pin to Dock)
- Open the Show Applications menu (the grid icon).
- Search for CoppeliaSim.
- Right-click it and select Add to Favorites.
You’re all set!
CoppeliaSim is now fully integrated into your Ubuntu system.
This content originally appeared on DEV Community and was authored by Chris
Chris | Sciencx (2025-11-11T04:31:21+00:00) How to Fully Integrate CoppeliaSim in Ubuntu (Command Line & Desktop). Retrieved from https://www.scien.cx/2025/11/11/how-to-fully-integrate-coppeliasim-in-ubuntu-command-line-desktop/
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