CoppeliaSim forums

Hello,

which version of CoppeliaSim are you using? In CoppeliaSim V4.10, there is a general inverse dynamics demo scene: scenes/inverseDynamics.ttt . It features gravity compensation, velocity/torque/position control, task/joint space impedance, etc.

In general, use joints in force/torque mode ...

Hello,

it is important to identify the source of the slowdown, i.e. the bottleneck. In your case, it appears to be the physics engine. I also noticed that your robots a re slightly shacking, which indicates probably collisions between robots and the environment.
In general bottlenecks can come from ...

Hello,

you are using the legacy remote API, which is deprecated. Please switch to the ZeroMQ remote API, which is easier to use, more flexible, extendable, and faster.

Cheers

Hello,

have a look at the demo scene scenes/movingAlongAPath.ttt. Note that old path types are not supported anymore.

Cheers

You will have to look at Mujoco's 3 friction values mujoco.friction and maybe also mujoco.solref and mujoco.solimp. You'll need to play with those values and find the combination that best handles your task.

Cheers

Hello,

you won't be able to achieve a perfect dynamics simulation: errors, even small ones, will gradually accumulate and become visible.
In addition, how well you will be able to simulate a specific aspect highly depends on the used physics engine (you haven't mentioned which one you are using ...

CoppeliaSim is not meant for speed. Its emphasis is functionality, flexibility and ease of use. For speed, you should look at using one of the physics engines naked.

Cheers

It really depends on your IDE you are using. The mentioned add-on is an example for Notepad++. For other IDEs you will have to look at a different way to generate relevant files.

Cheers

Hello,

if you are using internal controllers for e.g. position or velocity control of a joint, you won't obtain meaningful forces/torques for that joint. Instead, you should use an inverse dynamics controller: have a look at the demo scene scenes/inverseDynamics.ttt

Cheers

Hello,

you can specify the location of your Python executable in CoppeliaSim's user settings file via the defaultPython item.

Cheers