CoppeliaSim

A general-purpose robot simulator from Coppelia Robotics in Switzerland, the successor to V-REP.

CoppeliaSim is robot simulation software maintained by Coppelia Robotics, based in Zurich, Switzerland; it was formerly called V-REP, originally developed within Toshiba's R&D division, and remains fully compatible with V-REP after the rename. Its defining feature is breadth: it can switch between five physics engines — MuJoCo, Bullet, ODE, Newton, and Vortex — and has built-in forward/inverse kinematics, collision and distance computation, and OMPL-based motion planning, controllable from Python, Lua, C/C++, and other languages through embedded scripts, plugins, or a remote API. It comes in an educational edition (restricted to students and teachers, non-commercial) and a commercial edition. In embodied learning, it is most commonly used indirectly through the PyRep interface, and the classic manipulation benchmark RLBench is built on top of it. It is primarily single-machine CPU simulation, so reinforcement-learning training that needs thousands of parallel environments generally switches to GPU simulators like Isaac Lab instead.

ExampleRLBench's tabletop manipulation tasks, such as opening a drawer or stacking blocks, all run inside CoppeliaSim 4.1, with researchers using PyRep's Python interface to control a simulated Franka arm for data collection and policy testing.

Also called

V-REP, Virtual Robot Experimentation Platform

Related

Simulator · Physics Engine · RLBench · MuJoCo (Multi-Joint dynamics with Contact) · Gazebo · Webots

Sources

Coppelia Robotics 官网 (Chinese)
CoppeliaSim - Wikipedia
RLBench GitHub（基于 CoppeliaSim 与 PyRep） (Chinese)

As of

2026-09