pyrep

pyrep is a Python API for controlling the CoppeliaSim robot simulator. It allows users to program robot simulations entirely in Python, offering a powerful and flexible way to develop and test robot behaviors without needing to interact directly with CoppeliaSim's graphical interface or its built-in scripting language (Lua).

The pyrep library provides a comprehensive set of functions for interacting with the simulated environment. This includes functionalities for object manipulation, such as retrieving object handles, setting their position and orientation, and applying forces. Users can also control joints, read sensor data (like proximity sensors, vision sensors, and force sensors), and manage the simulation's playback.

One of pyrep's key advantages is its ability to facilitate the integration of advanced robotics concepts and machine learning algorithms. Researchers and developers can leverage Python's extensive ecosystem of libraries, such as NumPy, SciPy, and TensorFlow or PyTorch, to build complex control systems, train reinforcement learning agents, and perform sophisticated data analysis directly within the simulation.

pyrep simplifies the workflow for robotics research and development. It enables rapid prototyping, automated testing, and the creation of reproducible experiments. By abstracting away much of the low-level interaction with the simulator, pyrep allows users to focus on the higher-level aspects of robot design and control. The library is open-source and actively maintained, making it a valuable tool for the robotics community.