CoppeliaSim forums

Hello,

if you want to use the IK module, then you should explicitly require it in your Lua or Python script:

simIK = require('simIK')

From a ZeroMQ remote API client it is actually not recommended using the IK module (better to use it locally), but if you must, you can do:

simIK = client ...

Hello,

what CoppeliaSim version are you running?

You should make sure to carefully read the section on designing dynamic simulations. Sharing your scene would help identifying the problem.

Cheers

Hello,

by default CoppeliaSim will use the python available when one types py (on windows) or python3 (on Ubuntu/macOS). If you want/need a different Python to execute with CoppeliaSim, you can specify its executatble via the defaultPython value in the user settings file.

Cheers

Hello,

we do not debug foreign code, as this would take way too much effort for us, unless the code is just a few lines. Also it is always better to provide a self-sufficient scene that can be easily/quickly tested, without the need to load a scene, start a client, make sure all packages are ...

Hello,

what sim. time step and dyn. time step are you using? Keep in mind that contact points are generated in each individual dyn. step. Also, there are usually more than 1 contact points between 2 objects at a given point in time.
Try setting the simulation time step the same size as the dyn ...

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