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# Testing the installation using the Coppelia Simulator
We are now moving to more advanced robotics simulators that can reduce the gap between simulation and deployment. Our first choice now is [CoppeliaSim](https://www.coppeliarobotics.com/) because it offers a scene editor that can be used during a running simulation, you can "hang" and modify Lua code from the scene nodes in no time, you can choose among 4 physics engines and, thanks to the [PyRep](https://github.com/stepjam/PyRep) library, we have a fast access to almost everything running in the simulator.
To connect RoboComp and CoppeliaSim we use *bridges* that are Python components that include PyRep and implement/publish the required RoboComp interfaces. So far we have implemented three bridges that are located in this [repo](https://github.com/robocomp/dsr-graph/tree/development/robots_pyrep). These bridges interface scenes with Viriato, a simpler world using Viriato's omni base and an empty world with a Pioneer 2AT differential robot. The corresponding Coppelia .ttt files can be found [here](https://github.com/robocomp/dsr-graph/tree/development/etc).
Follow the instructions in https://github.com/robocomp/robocomp/blob/development/doc/robocomp-pyrep.md to install CoppeliaSim and PyRep
