The performance of the simulator is currently limited by the speed at which Matlab can iterate and render objects. It is proposed that the next major release of the simulator use gazebo (http://gazebosim.org) as the simulation core. Gazebo is an open-source, widely-used simulation framework that couples with well-tested graphics and physics libraries. The proposed idea is that QRSim is implemented as a plugin to gazebo, which can be remotely controlled over an implementation agnostic TCP/IP interface. As such, the simulator can be completely controlled from C++, python or Matlab.