diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..a47d5b9
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,11 @@
+CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
+PROJECT(cpp-interface-coppeliasim)
+set (CMAKE_CXX_STANDARD 11)
+
+################################################################
+# INSTALL HEADERS
+################################################################
+
+INSTALL(FILES
+    include/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterface.h
+    DESTINATION "include/dqrobotics/interfaces/coppeliasim") 
diff --git a/include/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterface.h b/include/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterface.h
new file mode 100644
index 0000000..178c478
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+++ b/include/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterface.h
@@ -0,0 +1,71 @@
+/**
+(C) Copyright 2024 DQ Robotics Developers
+
+This file is part of DQ Robotics.
+
+    DQ Robotics is free software: you can redistribute it and/or modify
+    it under the terms of the GNU Lesser General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    DQ Robotics is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU Lesser General Public License for more details.
+
+    You should have received a copy of the GNU Lesser General Public License
+    along with DQ Robotics.  If not, see <http://www.gnu.org/licenses/>.
+
+DQ Robotics website: dqrobotics.github.io
+
+Contributors:
+
+   1. Juan Jose Quiroz Omana (juanjose.quirozomana@manchester.ac.uk)
+        - Responsible for the original implementation.
+*/
+#pragma once
+#include <dqrobotics/DQ.h>
+#include <string>
+#include <vector>
+
+using namespace Eigen;
+
+namespace DQ_robotics
+{
+class DQ_CoppeliaSimInterface
+{
+public:
+    virtual ~DQ_CoppeliaSimInterface() = default;
+    virtual bool connect(const std::string& host, const int& port, const int&TIMEOUT_IN_MILISECONDS) = 0;
+    virtual void trigger_next_simulation_step() const = 0;
+    virtual void set_stepping_mode(const bool& flag) const = 0;
+    virtual void start_simulation() const = 0;
+    virtual void stop_simulation()  const = 0;
+
+    virtual int get_object_handle(const std::string& objectname) = 0;
+    virtual std::vector<int> get_object_handles(const std::vector<std::string>& objectnames) = 0;
+
+    virtual DQ   get_object_translation(const std::string& objectname) = 0;
+    virtual void set_object_translation(const std::string& objectname, const DQ& t) = 0;
+
+    virtual DQ   get_object_rotation   (const std::string& objectname) = 0;
+    virtual void set_object_rotation   (const std::string& objectname, const DQ& r) = 0;
+
+    virtual DQ   get_object_pose       (const std::string& objectname) = 0;
+    virtual void set_object_pose       (const std::string& objectname, const DQ& h) = 0;
+
+    virtual VectorXd get_joint_positions(const std::vector<std::string>& jointnames) = 0;
+    virtual void     set_joint_positions(const std::vector<std::string>& jointnames, const VectorXd& joint_positions) = 0;
+    virtual void     set_joint_target_positions(const std::vector<std::string>& jointnames, const VectorXd& joint_target_positions) = 0;
+
+    virtual VectorXd get_joint_velocities(const std::vector<std::string>& jointnames) = 0;
+    virtual void     set_joint_target_velocities(const std::vector<std::string>& jointnames, const VectorXd& joint_target_velocities) = 0;
+
+    virtual void     set_joint_torques(const std::vector<std::string>& jointnames, const VectorXd& torques) = 0;
+    virtual VectorXd get_joint_torques(const std::vector<std::string>& jointnames) = 0;
+
+protected:
+    DQ_CoppeliaSimInterface() = default;
+};
+
+}