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I have been working with KUKA LBR iiwa 7 R800 robot, with the KUKA's IDE, which is the 'Sunrise.Workbench'. Since it does not have any virtual platform to verify the code (simulate), it's been quite difficult, as I need to test each code by deploying to the robot.

Can anyone suggest if there is any simulation software available where I can test the code written using the Robotics API in Sunrise.Workbench?

I came across V-REP simulation software, but, not sure if I can use my code in the workbench platform.

Appreciate if anyone can shed some light on it. Thanks in advance.

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I suggest using ROS and related tools. If you want to simulate kinematics of the manipulator, you can visualize it in ROS, by following below steps.
1. Find a URDF description, or write a one
2. Visualize it in rviz tool
3. Write a joint state publisher node, which outputs the joint values from your existing code to the visualizer.

look on to this

If you want to do a exact physics simulation you can consider on using Gazebo with ROS.

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  • $\begingroup$ The Github project you posted is for the KUKA LWR 4+ and not for the LBR iiwa. $\endgroup$
    – El Zo
    Commented Apr 1, 2016 at 11:19
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I have drivers for the kuka iiwa and integrate the V-REP simulator with my library grl, you can even have the simulator drive the physical robot.

Another independent tool is iiwa_stack. grl can integrate with iiwa_stack as well.

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