Thx @juju, interesting bench!
For info, on my laptop (really powerful i7 + good GPU) I’m only barely better than real time…
We should soon try to provide a simpler model of Poppy for V-REP by simplifying the mesh. This may hopefully improve the performance. You can also try to run V-REP in headless mode and see if it works better. Of course you’ll loose the visualisation…