Two simulators are available with e-puck modules:

- ENKI , an open-source, fast 2D physics-based robot simulator written in C++. It is able to simulate cinematics, collisions, sensors and cameras of robots evolving on a flat surface. It also provides limited support for friction. It is able to simulate groups of robots hundred times faster than realtime on a modern desktop computer.

- WEBOTS , a proprietary efficient 3D physics-based robot simulator, provides you with a rapid prototyping environment for modelling, programming and simulating mobile robots. The included robot libraries enable you to transfer your control programs to many commercially available real mobile robots, including the e-puck robot.