In addition to using robotic simulators for testing system architecture, design, and development, they can also be used in a wider context for Artificial Creatures. In this study, we propose a teleoperation system, which integrates a Virtual Robot Environmentation Platform (V-REP) simulator with the real world through the Robot Operating System framework. The proposed system is a real-time display system that can be used to provide an obstacle and a rough floor visualization. A combination of inertial measurement unit sensor data and odometry data will be sent to the simulator to display the robot posture and then create an algorithm in the V-REP to display the obstacle. Then, the V-REP simulator uses the real-time data and obstacle to real-time dynamic simulation to display the movement of the object that is mounted on the robot. The results show that the proposed system can display the robot posture, the obstacle that the robot climb over, and real-time simulation characteristic of the object that is mounted on the robot.