CoppeliaSim, known as V-REP until 2019, comes from Coppelia Robotics in Zurich and offers five physics engines in one program: Bullet, ODE, MuJoCo, Newton and Vortex, switchable per scene. Control is distributed, so each object can carry its own embedded script, plugin, ROS node or remote API client, written in Lua, Python, C++, Java or MATLAB. Version 4.10 shipped in May 2025 with heavier Python integration. Inverse kinematics, path planning, grasping, cloth and rope models are built in.
Popular in university labs and mechatronics prototyping, where comparing the same mechanism under two engines is genuinely useful. An education version is free for academic use, while the Pro licence is perpetual and quoted on request, sometimes bundled with modelling and training hours. The interface is dense and looks its age, and scenes with many dynamic parts slow down.
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