CoppeliaSim (V-REP)

CoppeliaSim robot simulation environment: scene hierarchy, Lua/Python scripting, remote API, and manipulation simulation.

Learning Objectives

1. Introduction to CoppeliaSim

1.1 V-REP to CoppeliaSim

1.2 Installation & UI

2. Scene Hierarchy & Objects

2.1 Shapes, Joints, Dummies

2.2 Model Properties

3. Scripting

3.1 Embedded Lua Scripts

3.2 Python Remote API

3.3 BlueZero Framework

4. Simulation Control

4.1 Stepping Modes

4.2 Custom Physics Plugins

5. Manipulation Simulation

5.1 Grasping with Grippers

5.2 Path Planning (OMPL Plugin)

6. ROS 2 Integration

7. CoppeliaSim vs. Other Simulators

Exercises

References