An information processing device, comprising: a first actuator emulator, simulating a behavior of a first driving device according to an input first command value; a second actuator emulator, simulating a behavior of a second driving device cooperating with the first driving device according to an input second command value; a first controller emulator, simulating a behavior of a first controller that controls the first driving device by outputting the first command value to the first actuator emulator; a second controller emulator, simulating a behavior of a second controller that controls the second driving device by outputting the second command value to the second actuator emulator; and a storage device, storing first data and second data shared between the first controller emulator and the second controller emulator, the information processing device being characterized in that the first controller emulator calculates the first command value using the first data as an input at each predetermined first control period according to a communication period between the first controller and the second controller and updates the second data with data that is a predetermined collection target representing a behavior of the first actuator emulator at each first control period, the second controller emulator calculates the second command value using the second data as an input and updates the first data with data that is a predetermined collection target representing a behavior of the second actuator emulator at each predetermined second control period according to the communication period, the data that is the collection target of the first controller emulator includes a state value of the first actuator emulator, the data that is the collection target of the second controller emulator includes a state value of the second actuator emulator, the first controller emulator calculates the first command value on the basis of the state value of the second actuator emulator and updates the second data with a current state value of the first actuator emulator at each first control period, and the second controller emulator calculates the second command value on the basis of the state value of the first actuator emulator and updates the first data with a current state value of the second actuator emulator at each second control period. a first actuator emulator, simulating a behavior of a first driving device according to an input first command value; a second actuator emulator, simulating a behavior of a second driving device cooperating with the first driving device according to an input second command value; a first controller emulator, simulating a behavior of a first controller that controls the first driving device by outputting the first command value to the first actuator emulator; a second controller emulator, simulating a behavior of a second controller that controls the second driving device by outputting the second command value to the second actuator emulator; and a storage device, storing first data and second data shared between the first controller emulator and the second controller emulator, the information processing device being characterized in that the first controller emulator calculates the first command value using the first data as an input at each predetermined first control period according to a communication period between the first controller and the second controller and updates the second data with data that is a predetermined collection target representing a behavior of the first actuator emulator at each first control period, the second controller emulator calculates the second command value using the second data as an input and updates the first data with data that is a predetermined collection target representing a behavior of the second actuator emulator at each predetermined second control period according to the communication period, the data that is the collection target of the first controller emulator includes a state value of the first actuator emulator, the data that is the collection target of the second controller emulator includes a state value of the second actuator emulator, the first controller emulator calculates the first command value on the basis of the state value of the second actuator emulator and updates the second data with a current state value of the first actuator emulator at each first control period, and the second controller emulator calculates the second command value on the basis of the state value of the first actuator emulator and updates the first data with a current state value of the second actuator emulator at each second control period.