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Keep in mind that the c++ and in that case the Python API is not thread-safe: you should only access API functions from within the c++ simulation thread, or from your Python simulation thread (if you work with the CoppeliaSim Python Client application, coppeliaSim.py)

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Hello, sorry for the late reply. What physics engine are you using? The behaviour of a joint is tightly linked to the used physics engine. Most engines do have some kind of limitations, in terms of realistic behaviour. Best is to probably use the MuJoCo engine. Also you mention a joint in free mode ...

Hello,

please tell us what version you are running, and how exactly you are starting CoppeliaSim, and at what time exactly it crashes. What does following mean? "I have to reset the windows.."

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Hello,

what version of CoppeliaSim are you running? In CoppeliaSim V4.6, simpleMovement is showing how to control the simultaneous motion of 3 robots, via 4 clients. If your movements are sequential, then a single client shoule be enough.

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Hello, we cannot see the video you posted. Keep in mind that a joint can be in kinematic or dynamic mode . And when in dynamic mode , it can be in one of following control mode : free , force , velocity , position , spring or custom . Most manipulator joints are in dynamic mode, and in position cont...

Hello, what you describe are joints breaking apart: with most physics engines, joints are modelled as constraints. If some constraints cannot be solved properly, joints will come apart. This is not the case with the MuJoCo engine for instance (except where there are loop closures). To remedy for joi...

Sorry, I am not sure I understand. If you are trying to move a dynamically enabled joint in a realistic fashion, you cannot use sim.setJointPosition, since motion would be instantaneous. You should use instead sim.setJointTargetPosition, and the joint will try to reach the desired position when in p...

Hello, what kind of shapes are you using to model your two parts? If you use non-convex shapes, this will never be good. You should design your two parts as a compound of primitive shapes (best), or as a compound of convex shapes (not bad either). The problem when using random non-convex meshes is t...

When using Python, I highly recommend using CoppeliaSim V4.6 and later. And for easier pick-and-place motions, you might want to wait for release 4.7 (within 1-2 months), which will feature actions.

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Those values have now moved to the engine properties (via the engine properties button): each engine has its own set of PID values.

Cheers