PID Path-Following Loop in CoppeliaSim

I have a mobile robot running inside CoppeliaSim and I need a clean, well-commented Python script that closes the loop on its position with a classic PID controller. The goal is simple: the robot must follow a predefined path accurately and smoothly, keeping tracking errors to a minimum while coping with CoppeliaSim’s real-time dynamics.

You are free to choose any sensible tuning method, but I want the gains justified and easy for me to tweak afterwards. Make sure the code exposes the proportional, integral and derivative terms clearly, logs position error over time, and plots or prints a brief performance summary so I can see how well the controller converges.

Deliverables:
• Python script (.py) ready to load in CoppeliaSim’s remote API or ZeroMQ interface
• Brief README or inline comments explaining setup, gain tuning procedure and how to change the reference path
• Proof-of-run: small video capture or screenshot series showing the robot completing the path within a reasonable tolerance (≈2 cm lateral error max)

Acceptance criteria:
– Robot completes the full path without oscillation or overshoot that causes it to leave the virtual floor area
– Average position error under 1 cm once steady tracking is reached
– All external libraries used must be standard Python or clearly listed for pip install

If you have tackled CoppeliaSim PID work before, feel free to mention it; otherwise, a concise demo will speak for itself.