CoppeliaSim（V-REP）

CoppeliaSim 机器人仿真环境：场景层级、Lua/Python 脚本、远程 API 和操作仿真。

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