在版本3以及之前，一款好用的仿真工具叫做V-Rep；
在版本4以及之后，这款好用的仿真工具改名为CoppeliaSim。
zhangrelay / CoppeliaSim_Edu_V4_2_0_Ubuntu16_04 · GitCode
git clone https://gitcode.net/ZhangRelay/coppeliasim_edu_v4_2_0_ubuntu16_04.git
下载完成后，使用如下命令解压缩：
tar -xf coppeliasim_edu_v4_2_0_ubuntu16_04/CoppeliaSim_Edu_V4_2_0_Ubuntu16_04.tar.xz
直接进入到解压后的文件夹下，使用如下命令使用仿真工具：
./coppeliaSim.sh
测试案例（机器人在点云下避碰）：
全部过程记录如下：
代码语言：javascript复制shiyanlou:Code/ $ git clone https://gitcode.net/ZhangRelay/coppeliasim_edu_v4_2_0_ubuntu16_04.git
u6b63u514bu9686u5230 'coppeliasim_edu_v4_2_0_ubuntu16_04'...
remote: Enumerating objects: 3, done.
remote: Counting objects: 100% (3/3), done.
remote: Compressing objects: 100% (3/3), done.
remote: Total 3 (delta 0), reused 0 (delta 0), pack-reused 0
u5c55u5f00u5bf9u8c61u4e2d: 100% (3/3), u5b8cu6210.
u68c0u67e5u8fdeu63a5... u5b8cu6210u3002
shiyanlou:Code/ $ tar -xv coppeliasim_edu_v4_2_0_ubuntu16_04/CoppeliaSim_Edu_V4_2_0_Ubuntu16_04.tar.xz
tar: Refusing to read archive contents from terminal (missing -f option?)
tar: Error is not recoverable: exiting now
shiyanlou:Code/ $ tar --help [16:06:45]
u7528u6cd5: tar [u9009u9879...] [FILE]...
GNU 'tar' saves many files together into a single tape or disk archive, and can
restore individual files from the archive.
Examples:
tar -cf archive.tar foo bar # Create archive.tar from files foo and bar.
tar -tvf archive.tar # List all files in archive.tar verbosely.
tar -xf archive.tar # Extract all files from archive.tar.
u4e3bu64cdu4f5cu6a21u5f0f:
-A, --catenate, --concatenate u8ffdu52a0 tar u6587u4ef6u81f3u5f52u6863
-c, --create u521bu5efau4e00u4e2au65b0u5f52u6863
-d, --diff, --compare u627eu51fau5f52u6863u548cu6587u4ef6u7cfbu7edfu7684u5deeu5f02
--delete u4eceu5f52u6863(u975eu78c1u5e26uff01)u4e2du5220u9664
-r, --append u8ffdu52a0u6587u4ef6u81f3u5f52u6863u7ed3u5c3e
-t, --list u5217u51fau5f52u6863u5185u5bb9
--test-label u6d4bu8bd5u5f52u6863u5377u6807u5e76u9000u51fa
-u, --update u4ec5u8ffdu52a0u6bd4u5f52u6863u4e2du526fu672cu66f4u65b0u7684u6587u4ef6
-x, --extract, --get u4eceu5f52u6863u4e2du89e3u51fau6587u4ef6
u64cdu4f5cu4feeu9970u7b26:
--check-device u5f53u521bu5efau589eu91cfu5f52u6863u65f6u68c0u67e5u8bbeu5907u53f7(u9ed8u8ba4)
-g, --listed-incremental=FILE u5904u7406u65b0u5f0fu7684 GNU u683cu5f0fu7684u589eu91cfu5907u4efd
-G, --incremental u5904u7406u8001u5f0fu7684 GNU u683cu5f0fu7684u589eu91cfu5907u4efd
--ignore-failed-read
u5f53u9047u4e0au4e0du53efu8bfbu6587u4ef6u65f6u4e0du8981u4ee5u975eu96f6u503cu9000u51fa
--level=NUMBER u6240u521bu5efau7684u589eu91cfu5217u8868u5f52u6863u7684u8f93u51fau7ea7u522b
-n, --seek u5f52u6863u53efu68c0u7d22
--no-check-device u5f53u521bu5efau589eu91cfu5f52u6863u65f6u4e0du8981u68c0u67e5u8bbeu5907u53f7
--no-seek u5f52u6863u4e0du53efu68c0u7d22
--occurrence[=NUMBER] u4ec5u5904u7406u5f52u6863u4e2du6bcfu4e2au6587u4ef6u7684u7b2c NUMBER
u4e2au4e8bu4ef6uff1bu4ec5u5f53u4e0eu4ee5u4e0bu5b50u547du4ee4 --delete,
--diff, --extract u6216u662f --list
u4e2du7684u4e00u4e2au8054u5408u4f7fu7528u65f6uff0cu6b64u9009u9879u624du6709u6548u3002u800cu4e14u4e0du7ba1u6587u4ef6u5217u8868u662fu4ee5u547du4ee4u884cu5f62u5f0fu7ed9u51fau6216u662fu901au8fc7
-T u9009u9879u6307u5b9au7684uff1bNUMBER u503cu9ed8u8ba4u4e3a 1
--sparse-version=MAJOR[.MINOR]
u8bbeu7f6eu6240u7528u7684u79bbu6563u683cu5f0fu7248u672c(u9690u542b
--sparse)
-S, --sparse u9ad8u6548u5904u7406u79bbu6563u6587u4ef6
u91cdu5199u63a7u5236:
-k, --keep-old-files don't replace existing files when extracting,
treat them as errors
--keep-directory-symlink preserve existing symlinks to directories when
extracting
--keep-newer-files
u4e0du8981u66ffu6362u6bd4u5f52u6863u4e2du526fu672cu66f4u65b0u7684u5df2u5b58u5728u7684u6587u4ef6
--no-overwrite-dir u4fddu7559u5df2u5b58u5728u76eeu5f55u7684u5143u6570u636e
--one-top-level[=DIR] create a subdirectory to avoid having loose files
extracted
--overwrite u89e3u538bu65f6u91cdu5199u5b58u5728u7684u6587u4ef6
--overwrite-dir u89e3u538bu65f6u91cdu5199u5df2u5b58u5728u76eeu5f55u7684u5143u6570u636e(u9ed8u8ba4)
--recursive-unlink u89e3u538bu76eeu5f55u4e4bu524du5148u6e05u9664u76eeu5f55u5c42u6b21
--remove-files u5728u6dfbu52a0u6587u4ef6u81f3u5f52u6863u540eu5220u9664u5b83u4eec
--skip-old-files don't replace existing files when extracting,
silently skip over them
-U, --unlink-first u5728u89e3u538bu8981u91cdu5199u7684u6587u4ef6u4e4bu524du5148u5220u9664u5b83u4eec
-W, --verify u5728u5199u5165u4ee5u540eu5c1du8bd5u6821u9a8cu5f52u6863
u9009u62e9u8f93u51fau6d41:
--ignore-command-error u5ffdu7565u5b50u8fdbu7a0bu7684u9000u51fau4ee3u7801
--no-ignore-command-error
u5c06u5b50u8fdbu7a0bu7684u975eu96f6u9000u51fau4ee3u7801u8ba4u4e3au53d1u751fu9519u8bef
-O, --to-stdout u89e3u538bu6587u4ef6u81f3u6807u51c6u8f93u51fa
--to-command=COMMAND
u5c06u89e3u538bu7684u6587u4ef6u901au8fc7u7ba1u9053u4f20u9001u81f3u53e6u4e00u4e2au7a0bu5e8f
u64cdu4f5cu6587u4ef6u5c5eu6027:
--atime-preserve[=METHOD]
u5728u8f93u51fau7684u6587u4ef6u4e0au4fddu7559u8bbfu95eeu65f6u95f4uff0cu8981u4e48u901au8fc7u5728u8bfbu53d6(u9ed8u8ba4
METHOD=u2018replaceu2019)u540eu8fd8u539fu65f6u95f4uff0cu8981u4e0du5c31u4e0du8981u5728u7b2cu4e00u6b21(METHOD=u2018systemu2019)u8bbeu7f6eu65f6u95f4
--clamp-mtime only set time when the file is more recent than
what was given with --mtime
--delay-directory-restore
u76f4u5230u89e3u538bu7ed3u675fu624du8bbeu7f6eu4feeu6539u65f6u95f4u548cu6240u89e3u76eeu5f55u7684u6743u9650
--group=u540du79f0 u5f3au5236u5c06 NAME
u4f5cu4e3au6240u6dfbu52a0u7684u6587u4ef6u7684u7ec4u6240u6709u8005
--mode=CHANGES u5f3au5236u5c06u6240u6dfbu52a0u7684u6587u4ef6(u7b26u53f7)u66f4u6539u4e3au6743u9650
CHANGES
--mtime=DATE-OR-FILE u4ece DATE-OR-FILE u4e2du4e3au6dfbu52a0u7684u6587u4ef6u8bbeu7f6e
mtime
-m, --touch u4e0du8981u89e3u538bu6587u4ef6u7684u4feeu6539u65f6u95f4
--no-delay-directory-restore
u53d6u6d88 --delay-directory-restore u9009u9879u7684u6548u679c
--no-same-owner
u5c06u6587u4ef6u89e3u538bu4e3au60a8u6240u6709(u666eu901au7528u6237u9ed8u8ba4u6b64u9879)
--no-same-permissions
u4eceu5f52u6863u4e2du89e3u538bu6743u9650u65f6u4f7fu7528u7528u6237u7684u63a9u7801u4f4d(u9ed8u8ba4u4e3au666eu901au7528u6237u670du52a1)
--numeric-owner u603bu662fu4ee5u6570u5b57u4ee3u8868u7528u6237/u7ec4u7684u540du79f0
--owner=u540du79f0 u5f3au5236u5c06 NAME
u4f5cu4e3au6240u6dfbu52a0u7684u6587u4ef6u7684u6240u6709u8005
-p, --preserve-permissions, --same-permissions
u89e3u538bu6587u4ef6u6743u9650u4fe1u606f(u9ed8u8ba4u53eau4e3au8d85u7ea7u7528u6237u670du52a1)
--preserve u4e0e -p u548c -s u4e00u6837
--same-owner
u5c1du8bd5u89e3u538bu65f6u4fddu6301u6240u6709u8005u5173u7cfbu4e00u81f4(u8d85u7ea7u7528u6237u9ed8u8ba4u6b64u9879)
-s, --preserve-order, --same-order
member arguments are listed in the same order as
the files in the archive
--sort=ORDER directory sorting order: none (default), name or
inode
Handling of extended file attributes:
--acls Enable the POSIX ACLs support
--no-acls Disable the POSIX ACLs support
--no-selinux Disable the SELinux context support
--no-xattrs Disable extended attributes support
--selinux Enable the SELinux context support
--xattrs Enable extended attributes support
--xattrs-exclude=MASK specify the exclude pattern for xattr keys
--xattrs-include=MASK specify the include pattern for xattr keys
u8bbeu5907u9009u62e9u548cu5207u6362:
-f, --file=ARCHIVE u4f7fu7528u5f52u6863u6587u4ef6u6216 ARCHIVE u8bbeu5907
--force-local
u5373u4f7fu5f52u6863u6587u4ef6u5b58u5728u526fu672cu8fd8u662fu628au5b83u8ba4u4e3au662fu672cu5730u5f52u6863
-F, --info-script=u540du79f0, --new-volume-script=u540du79f0
u5728u6bcfu5377u78c1u5e26u6700u540eu8fd0u884cu811au672c(u9690u542b -M)
-L, --tape-length=NUMBER u5199u5165 NUMBER × 1024 u5b57u8282u540eu66f4u6362u78c1u5e26
-M, --multi-volume u521bu5efa/u5217u51fa/u89e3u538bu591au5377u5f52u6863u6587u4ef6
--rmt-command=COMMAND u4f7fu7528u6307u5b9au7684 rmt COMMAND u4ee3u66ff rmt
--rsh-command=COMMAND u4f7fu7528u8fdcu7a0b COMMAND u4ee3u66ff rsh
--volno-file=FILE u4f7fu7528/u66f4u65b0 FILE u4e2du7684u5377u6570
u8bbeu5907u5206u5757:
-b, --blocking-factor=BLOCKS u6bcfu4e2au8bb0u5f55 BLOCKS x 512 u5b57u8282
-B, --read-full-records u8bfbu53d6u65f6u91cdu65b0u5206u5757(u53eau5bf9 4.2BSD u7ba1u9053u6709u6548)
-i, --ignore-zeros u5ffdu7565u5f52u6863u4e2du7684u96f6u5b57u8282u5757(u5373u6587u4ef6u7ed3u5c3e)
--record-size=NUMBER u6bcfu4e2au8bb0u5f55u7684u5b57u8282u6570 NUMBERuff0cu4e58u4ee5 512
u9009u62e9u5f52u6863u683cu5f0f:
-H, --format=FORMAT u521bu5efau6307u5b9au683cu5f0fu7684u5f52u6863
FORMAT u662fu4ee5u4e0bu683cu5f0fu4e2du7684u4e00u79cd:
gnu GNU tar 1.13.x u683cu5f0f
oldgnu GNU u683cu5f0f as per tar <= 1.12
pax POSIX 1003.1-2001 (pax) u683cu5f0f
posix u7b49u540cu4e8e pax
ustar POSIX 1003.1-1988 (ustar) u683cu5f0f
v7 old V7 tar u683cu5f0f
--old-archive, --portability
u7b49u540cu4e8e --format=v7
--pax-option=u5173u952eu5b57[[:]=u503c][,u5173u952eu5b57[[:]=u503c]]...
u63a7u5236 pax u5173u952eu5b57
--posix u7b49u540cu4e8e --format=posix
-V, --label=TEXT u521bu5efau5e26u6709u5377u540d TEXT
u7684u5f52u6863uff1bu5728u5217u51fa/u89e3u538bu65f6uff0cu4f7fu7528 TEXT
u4f5cu4e3au5377u540du7684u6a21u5f0fu4e32
u538bu7f29u9009u9879:
-a, --auto-compress u4f7fu7528u5f52u6863u540eu7f00u540du6765u51b3u5b9au538bu7f29u7a0bu5e8f
-I, --use-compress-program=PROG
u901au8fc7 PROG u8fc7u6ee4(u5fc5u987bu662fu80fdu63a5u53d7 -d
u9009u9879u7684u7a0bu5e8f)
-j, --bzip2 u901au8fc7 bzip2 u8fc7u6ee4u5f52u6863
-J, --xz u901au8fc7 xz u8fc7u6ee4u5f52u6863
--lzip u901au8fc7 lzip u8fc7u6ee4u5f52u6863
--lzma u901au8fc7 xz u8fc7u6ee4u5f52u6863
--lzop u901au8fc7 xz u8fc7u6ee4u5f52u6863
--no-auto-compress u4e0du4f7fu7528u5f52u6863u540eu7f00u540du6765u51b3u5b9au538bu7f29u7a0bu5e8f
-z, --gzip, --gunzip, --ungzip u901au8fc7 gzip u8fc7u6ee4u5f52u6863
-Z, --compress, --uncompress u901au8fc7 compress u8fc7u6ee4u5f52u6863
u672cu5730u6587u4ef6u9009u62e9:
--add-file=FILE u6dfbu52a0u6307u5b9au7684 FILE u81f3u5f52u6863(u5982u679cu540du5b57u4ee5 -
u5f00u59cbu4f1au5f88u6709u7528u7684)
--backup[=CONTROL] u5728u5220u9664u524du5907u4efduff0cu9009u62e9 CONTROL u7248u672c
-C, --directory=DIR u6539u53d8u81f3u76eeu5f55 DIR
--exclude=PATTERN u6392u9664u4ee5 PATTERN u6307u5b9au7684u6587u4ef6
--exclude-backups u6392u9664u5907u4efdu548cu9501u6587u4ef6
--exclude-caches u9664u6807u8bc6u6587u4ef6u672cu8eabu5916uff0cu6392u9664u5305u542b
CACHEDIR.TAG u7684u76eeu5f55u4e2du7684u5185u5bb9
--exclude-caches-all u6392u9664u5305u542b CACHEDIR.TAG u7684u76eeu5f55
--exclude-caches-under u6392u9664u5305u542b CACHEDIR.TAG
u7684u76eeu5f55u4e2du6240u6709u5185u5bb9
--exclude-ignore=FILE read exclude patterns for each directory from
FILE, if it exists
--exclude-ignore-recursive=FILE
read exclude patterns for each directory and its
subdirectories from FILE, if it exists
--exclude-tag=FILE u9664 FILE u81eau8eabu5916uff0cu6392u9664u5305u542b FILE
u7684u76eeu5f55u4e2du7684u5185u5bb9
--exclude-tag-all=FILE u6392u9664u5305u542b FILE u7684u76eeu5f55
--exclude-tag-under=FILE u6392u9664u5305u542b FILE u7684u76eeu5f55u4e2du7684u6240u6709u5185u5bb9
--exclude-vcs u6392u9664u7248u672cu63a7u5236u7cfbu7edfu76eeu5f55
--exclude-vcs-ignores read exclude patterns from the VCS ignore files
-h, --dereference
u8ddfu8e2au7b26u53f7u94feu63a5uff1bu5c06u5b83u4eecu6240u6307u5411u7684u6587u4ef6u5f52u6863u5e76u8f93u51fa
--hard-dereference
u8ddfu8e2au786cu94feu63a5uff1bu5c06u5b83u4eecu6240u6307u5411u7684u6587u4ef6u5f52u6863u5e76u8f93u51fa
-K, --starting-file=MEMBER-NAME
begin at member MEMBER-NAME when reading the
archive
--newer-mtime=DATE u5f53u53eau6709u6570u636eu6539u53d8u65f6u6bd4u8f83u6570u636eu548cu65f6u95f4
--no-null u7981u7528u4e0au4e00u6b21u7684u6548u679c --null u9009u9879
--no-recursion u907fu514du76eeu5f55u4e2du7684u81eau52a8u964du7ea7
--no-unquote do not unquote input file or member names
--null -T u8bfbu53d6u4ee5u7a7au7ec8u6b62u7684u540du5b57uff0c-C u7981u7528
-N, --newer=DATE-OR-FILE, --after-date=DATE-OR-FILE
u53eau4fddu5b58u6bd4 DATE-OR-FILE u66f4u65b0u7684u6587u4ef6
--one-file-system u521bu5efau5f52u6863u65f6u4fddu5b58u5728u672cu5730u6587u4ef6u7cfbu7edfu4e2d
-P, --absolute-names don't strip leading '/'s from file names
--recursion u76eeu5f55u9012u5f52(u9ed8u8ba4)
--suffix=STRING u5728u5220u9664u524du5907u4efduff0cu9664u975eu88abu73afu5883u53d8u91cf
SIMPLE_BACKUP_SUFFIX
u8986u76d6uff0cu5426u5219u8986u76d6u5e38u7528u540eu7f00(u2018u2019)
-T, --files-from=FILE u4ece FILE
u4e2du83b7u53d6u6587u4ef6u540du6765u89e3u538bu6216u521bu5efau6587u4ef6
--unquote unquote input file or member names (default)
-X, --exclude-from=FILE u6392u9664 FILE u4e2du5217u51fau7684u6a21u5f0fu4e32
u6587u4ef6u540du53d8u6362:
--strip-components=NUMBER u89e3u538bu65f6u4eceu6587u4ef6u540du4e2du6e05u9664 NUMBER
u4e2au5f15u5bfcu90e8u5206
--transform=EXPRESSION, --xform=EXPRESSION
u4f7fu7528 sed u4ee3u66ff EXPRESSION
u6765u8fdbu884cu6587u4ef6u540du53d8u6362
u6587u4ef6u540du5339u914du9009u9879(u540cu65f6u5f71u54cdu6392u9664u548cu5305u62ecu6a21u5f0fu4e32):
--anchored u6a21u5f0fu4e32u5339u914du6587u4ef6u540du5934u90e8
--ignore-case u5ffdu7565u5927u5c0fu5199
--no-anchored patterns match after any '/' (default for
exclusion)
--no-ignore-case u5339u914du5927u5c0fu5199(u9ed8u8ba4)
--no-wildcards u9010u5b57u5339u914du5b57u7b26u4e32
--no-wildcards-match-slash wildcards do not match '/'
--wildcards u4f7fu7528u901au914du7b26(u9ed8u8ba4u5bf9 exclusion )
--wildcards-match-slash wildcards match '/' (default for exclusion)
u63d0u793au6027u8f93u51fa:
--checkpoint[=NUMBER] u6bcfu9694 NUMBER
u4e2au8bb0u5f55u663eu793au8fdbu5ea6u4fe1u606f(u9ed8u8ba4u4e3a 10 u4e2a)
--checkpoint-action=ACTION u5728u6bcfu4e2au68c0u67e5u70b9u4e0au6267u884c ACTION
--full-time u6309u6587u4ef6u539fu672cu65f6u95f4u683cu5f0fu6253u5370
--index-file=FILE u5c06u8be6u7ec6u8f93u51fau53d1u9001u81f3 FILE
-l, --check-links
u53eau8981u4e0du662fu6240u6709u94feu63a5u90fdu88abu8f93u51fau5c31u6253u5370u4fe1u606f
--no-quote-chars=STRING u7981u7528u6765u81ea STRING u7684u5b57u7b26u5f15u7528
--quote-chars=STRING u6765u81ea STRING u7684u989du5916u7684u5f15u7528u5b57u7b26
--quoting-style=STYLE u8bbeu7f6eu540du79f0u5f15u7528u98ceu683cuff1bu6709u6548u7684 STYLE
u503cu8bf7u53c2u9605u4ee5u4e0bu8bf4u660e
-R, --block-number u6bcfu4e2au4fe1u606fu90fdu663eu793au5f52u6863u5185u7684u5757u6570
--show-defaults u663eu793a tar u9ed8u8ba4u9009u9879
--show-omitted-dirs
u5217u8868u6216u89e3u538bu65f6uff0cu5217u51fau6bcfu4e2au4e0du5339u914du67e5u627eu6807u51c6u7684u76eeu5f55
--show-snapshot-field-ranges
show valid ranges for snapshot-file fields
--show-transformed-names, --show-stored-names
u663eu793au53d8u6362u540eu7684u6587u4ef6u540du6216u5f52u6863u540d
--totals[=SIGNAL] u5904u7406u5f52u6863u540eu6253u5370u51fau603bu5b57u8282u6570uff1bu5f53u6b64
SIGNAL u88abu89e6u53d1u65f6u5e26u53c2u6570 -
u6253u5370u603bu5b57u8282u6570uff1bu5141u8bb8u7684u4fe1u53f7u4e3a:
SIGHUPuff0cSIGQUITuff0cSIGINTuff0cSIGUSR1 u548c
SIGUSR2uff1bu540cu65f6u4e5fu63a5u53d7u4e0du5e26 SIG
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--utc u4ee5 UTC u683cu5f0fu6253u5370u6587u4ef6u4feeu6539u65f6u95f4
-v, --verbose u8be6u7ec6u5730u5217u51fau5904u7406u7684u6587u4ef6
--warning=KEYWORD u8b66u544au63a7u5236:
-w, --interactive, --confirmation
u6bcfu6b21u64cdu4f5cu90fdu8981u6c42u786eu8ba4
u517cu5bb9u6027u9009u9879:
-o u521bu5efau5f52u6863u65f6uff0cu76f8u5f53u4e8e
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--no-same-owner
u5176u5b83u9009u9879:
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--restrict u7981u7528u67d0u4e9bu6f5cu5728u7684u6709u5371u9669u7684u9009u9879
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The backup suffix is '~', unless set with --suffix or SIMPLE_BACKUP_SUFFIX.
The version control may be set with --backup or VERSION_CONTROL, values are:
none, off never make backups
t, numbered make numbered backups
nil, existing numbered if numbered backups exist, simple otherwise
never, simple always make simple backups
--quoting-style u9009u9879u7684u6709u6548u53c2u6570u4e3a:
literal
shell
shell-always
c
c-maybe
escape
locale
clocale
u6b64 tar u9ed8u8ba4u4e3a:
--format=gnu -f- -b20 --quoting-style=escape --rmt-command=/usr/lib/tar/rmt
--rsh-command=/usr/bin/rsh
u5c06u9519u8befu62a5u544au53d1u9001u5230 <bug-tar@gnu.org>u3002
shiyanlou:Code/ $ tar -xf coppeliasim_edu_v4_2_0_ubuntu16_04/CoppeliaSim_Edu_V4_2_0_Ubuntu16_04.tar.xz
shiyanlou:Code/ $ cd CoppeliaSim_Edu_V4_2_0_Ubuntu16_04 [16:07:42]
shiyanlou:CoppeliaSim_Edu_V4_2_0_Ubuntu16_04/ $ ls [16:10:54]
b0_bubbleRob
b0_resolver
bubbleRobClient_b0RemoteApi
bubbleRobClient_remoteApi
bubbleRobServer
bubbleRobZmqServer
bwf
cadFiles
coppeliaSim
coppeliaSimEduV402XX-LicenseAgreement.txt
coppeliaSim.sh
credits.txt
e-puckLicense.txt
helpFiles
imageformats
lbr_iiwa_7_r800.ik
libassimp.so
libassimp.so.4
libassimp.so.4.1.0
libavcodec.so
libavcodec.so.58
libavcodec.so.58.112.101
libavformat.so
libavformat.so.58
libavformat.so.58.64.100
libavutil.so
libavutil.so.56
libavutil.so.56.60.100
libb0.so
libboost_filesystem.so
libboost_filesystem.so.1.58.0
libboost_program_options.so
libboost_program_options.so.1.58.0
libboost_regex.so
libboost_regex.so.1.58.0
libboost_serialization.so
libboost_serialization.so.1.58.0
libboost_system.so
libboost_system.so.1.58.0
libboost_thread.so
libboost_thread.so.1.58.0
libboost_timer.so
libboost_timer.so.1.58.0
libCGAL.so
libCGAL.so.13
libCGAL.so.13.0.1
libcoppeliaSimHeadless.so
libcoppeliaSim.so
libcrypto.so
libcrypto.so.1.1
libicudata.so
libicudata.so.56
libicudata.so.56.1
libicui18n.so
libicui18n.so.56
libicui18n.so.56.1
libicuuc.so
libicuuc.so.56
libicuuc.so.56.1
libLoadErrorCheck.sh
liblua5.3.so
liblua5.3.so.0
liblua5.3.so.0.0.0
libompl.so
libompl.so.1.5.0
libompl.so.16
libopencv_core3.so
libopencv_core3.so.3.2
libopencv_core3.so.3.2.0
libopencv_imgcodecs3.so
libopencv_imgcodecs3.so.3.2
libopencv_imgcodecs3.so.3.2.0
libopencv_imgproc3.so
libopencv_imgproc3.so.3.2
libopencv_imgproc3.so.3.2.0
libopencv_videoio3.so
libopencv_videoio3.so.3.2
libopencv_videoio3.so.3.2.0
libOpenMeshCore.so
libOpenMeshCore.so.6.3
libOpenMeshTools.so
libOpenMeshTools.so.6.3
libqscintilla2_qt5.so
libqscintilla2_qt5.so.13
libqscintilla2_qt5.so.13.2
libqscintilla2_qt5.so.13.2.1
libQt53DCore.so
libQt53DCore.so.5
libQt53DCore.so.5.12
libQt53DCore.so.5.12.5
libQt53DExtras.so
libQt53DExtras.so.5
libQt53DExtras.so.5.12
libQt53DExtras.so.5.12.5
libQt53DInput.so
libQt53DInput.so.5
libQt53DInput.so.5.12
libQt53DInput.so.5.12.5
libQt53DLogic.so
libQt53DLogic.so.5
libQt53DLogic.so.5.12
libQt53DLogic.so.5.12.5
libQt53DRender.so
libQt53DRender.so.5
libQt53DRender.so.5.12
libQt53DRender.so.5.12.5
libQt5Concurrent.so
libQt5Concurrent.so.5
libQt5Concurrent.so.5.12
libQt5Concurrent.so.5.12.5
libQt5Core.so
libQt5Core.so.5
libQt5Core.so.5.12
libQt5Core.so.5.12.5
libQt5DBus.so
libQt5DBus.so.5
libQt5DBus.so.5.12
libQt5DBus.so.5.12.5
libQt5Gamepad.so
libQt5Gamepad.so.5
libQt5Gamepad.so.5.12
libQt5Gamepad.so.5.12.5
libQt5Gui.so
libQt5Gui.so.5
libQt5Gui.so.5.12
libQt5Gui.so.5.12.5
libQt5Network.so
libQt5Network.so.5
libQt5Network.so.5.12
libQt5Network.so.5.12.5
libQt5OpenGL.so
libQt5OpenGL.so.5
libQt5OpenGL.so.5.12
libQt5OpenGL.so.5.12.5
libQt5PrintSupport.so
libQt5PrintSupport.so.5
libQt5PrintSupport.so.5.12
libQt5PrintSupport.so.5.12.5
libQt5SerialPort.so
libQt5SerialPort.so.5
libQt5SerialPort.so.5.12
libQt5SerialPort.so.5.12.5
libQt5Svg.so
libQt5Svg.so.5
libQt5Svg.so.5.12
libQt5Svg.so.5.12.5
libQt5Widgets.so
libQt5Widgets.so.5
libQt5Widgets.so.5.12
libQt5Widgets.so.5.12.5
libQt5XcbQpa.so
libQt5XcbQpa.so.5
libQt5XcbQpa.so.5.12
libQt5XcbQpa.so.5.12.5
libQt5Xml.so
libQt5Xml.so.5
libQt5Xml.so.5.12
libQt5Xml.so.5.12.5
libsimExtAssimp.so
libsimExtB0.so
libsimExtBubbleRob.so
libsimExtBullet-2-78.so
libsimExtBullet-2-83.so
libsimExtBWF.so
libsimExtCodeEditor.so
libsimExtConvexDecompose.so
libsimExtExternalRenderer.so
libsimExtGeom.so
libsimExtGLTF.so
libsimExtICP.so
libsimExtIK.so
libsimExtIM.so
libsimExtK3.so
libsimExtLuaCmd.so
libsimExtLuaRemoteApiClient.so
libsimExtMTB.so
libsimExtNewton.so
libsimExtODE.so
libsimExtOMPL.so
libsimExtOpenGL3Renderer.so
libsimExtOpenMesh.so
libsimExtQhull.so
libsimExtRemoteApi.so
libsimExtRML2.so
libsimExtRRS1.so
libsimExtSDF.so
libsimExtSurfRec.so
libsimExtUI.so
libsimExtURDF.so
libsimExtURLDrop.so
libsimExtVision.so
libsimExtZMQ.so
libSL.so
libsodium.so.18
libsodium.so.18.0.1
libssl.so
libssl.so.1.1
libswresample.so
libswresample.so.3
libswresample.so.3.8.100
libswscale.so
libswscale.so.5
libswscale.so.5.8.100
libtbbmalloc_proxy.so
libtbbmalloc_proxy.so.2
libtbbmalloc.so
libtbbmalloc.so.2
libtbb_preview.so
libtbb_preview.so.2
libtbb.so
libtbb.so.2
libv_rep.so
libvvcl.so
libVxCore.so
libVxCore.so.2020.3
libVxCore.so.2020.3.0.68
libVxFoundation.so
libVxFoundation.so.2020.3
libVxFoundation.so.2020.3.0.68
libVxMath.so
libVxMath.so.2020.3
libVxMath.so.2020.3.0.68
libVxPlatform.so
libVxPlatform.so.2020.3
libVxPlatform.so.2020.3.0.68
libzmq.so.5
libzmq.so.5.0.0
license.txt
lua
luar
models
mtbServer
openCvRelated.tar.xz
platforms
platformthemes
programming
rcsServer
readme.txt
remoteApiConnections.txt
scenes
sensors
simAddOnB0 remote Api server.lua
simAddOnColor changer.lua
simAddOnContact display.lua
simAddOnCustom data block explorer.lua
simAddOnDenavit Hartenberg creator.lua
simAddOnDenavit Hartenberg extractor.lua
simAddOnGenerate notepad files.lua
simAddOnGLTF animation exporter.lua
simAddOnGLTF exporter.lua
simAddOnIsometric scaling.lua
simAddOnMesh decimation.lua
simAddOnMinimalistic exporter.lua
simAddOnMinimalistic importer.lua
simAddOnName change.lua
simAddOnPlugin enumerator.lua
simAddOnPoint cloud importer.lua
simAddOnPyRep.lua
simAddOnScreenshot tool.lua
simAddOnSDF importer.lua
simAddOnSimulation stepper.lua
simAddOnSurface reconstruction.lua
snippets
standAloneKinematicsDemo1
standAloneKinematicsDemo2
system
vortexPlugin
xcbglintegrations
shiyanlou:CoppeliaSim_Edu_V4_2_0_Ubuntu16_04/ $ ./coppeliaSim.sh [16:10:57]
[CoppeliaSimClient] loading the CoppeliaSim library...
[CoppeliaSimClient] done.
[CoppeliaSimClient:loadinfo] launching CoppeliaSim...
[CoppeliaSim:loadinfo] CoppeliaSim V4.2.0., (rev. 5), flavor: 1
[CoppeliaSim:loadinfo] Legacy machine ID: F260-FDEB-B7F4-9C4A-F7E3-BE0D
[CoppeliaSim:loadinfo] Machine ID: 1465-736C-D49C-0000-F4EC-0101
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-shiyanlou'
[CoppeliaSim:loadinfo] using the default Lua library.
[CoppeliaSim:loadinfo] loaded the video compression library.
[CoppeliaSim:loadinfo] if CoppeliaSim crashes now, try to install libgl1-mesa-dev on your system:
>sudo apt install libgl1-mesa-dev
[CoppeliaSim:loadinfo] OpenGL: VMware, Inc., Renderer: llvmpipe (LLVM 6.0, 256 bits), Version: 3.0 Mesa 18.0.5
[CoppeliaSim:loadinfo] simulator launched.
[CoppeliaSim:loadinfo] plugin 'Assimp': loading...
[CoppeliaSim:loadinfo] plugin 'Assimp': load succeeded.
[CoppeliaSim:loadinfo] plugin 'B0': loading...
[CoppeliaSim:loadinfo] plugin 'B0': load succeeded.
[CoppeliaSim:loadinfo] plugin 'BWF': loading...
[CoppeliaSim:loadinfo] plugin 'BWF': load succeeded.
[CoppeliaSim:loadinfo] plugin 'BubbleRob': loading...
[CoppeliaSim:loadinfo] plugin 'BubbleRob': load succeeded.
[CoppeliaSim:loadinfo] plugin 'Bullet-2-78': loading...
[CoppeliaSim:loadinfo] plugin 'Bullet-2-78': load succeeded.
[CoppeliaSim:loadinfo] plugin 'Bullet-2-83': loading...
[CoppeliaSim:loadinfo] plugin 'Bullet-2-83': load succeeded.
[CoppeliaSim:loadinfo] plugin 'CodeEditor': loading...
[CoppeliaSim:loadinfo] plugin 'CodeEditor': load succeeded.
[CoppeliaSim:loadinfo] plugin 'ConvexDecompose': loading...
[CoppeliaSim:error] plugin 'ConvexDecompose': load failed (could not load). The plugin probably couldn't load dependency libraries. For additional infos, modify the script 'libLoadErrorCheck.sh', run it and inspect the output.
[CoppeliaSim:loadinfo] plugin 'ExternalRenderer': loading...
[CoppeliaSim:loadinfo] plugin 'ExternalRenderer': load succeeded.
[CoppeliaSim:loadinfo] plugin 'GLTF': loading...
[CoppeliaSim:loadinfo] plugin 'GLTF': load succeeded.
[CoppeliaSim:loadinfo] plugin 'Geom': loading...
[CoppeliaSim:loadinfo] plugin 'Geom': load succeeded.
[CoppeliaSim:loadinfo] plugin 'ICP': loading...
[CoppeliaSim:loadinfo] plugin 'ICP': load succeeded.
[CoppeliaSim:loadinfo] plugin 'IK': loading...
[CoppeliaSim:loadinfo] plugin 'IK': load succeeded.
[CoppeliaSim:loadinfo] plugin 'IM': loading...
[CoppeliaSim:loadinfo] plugin 'IM': load succeeded.
[CoppeliaSim:loadinfo] plugin 'K3': loading...
[CoppeliaSim:loadinfo] plugin 'K3': load succeeded.
[CoppeliaSim:loadinfo] plugin 'LuaCmd': loading...
[CoppeliaSim:loadinfo] plugin 'LuaCmd': load succeeded.
[CoppeliaSim:loadinfo] plugin 'LuaRemoteApiClient': loading...
[CoppeliaSim:loadinfo] plugin 'LuaRemoteApiClient': load succeeded.
[CoppeliaSim:loadinfo] plugin 'MTB': loading...
[CoppeliaSim:loadinfo] plugin 'MTB': load succeeded.
[CoppeliaSim:loadinfo] plugin 'Newton': loading...
[CoppeliaSim:loadinfo] plugin 'Newton': load succeeded.
[CoppeliaSim:loadinfo] plugin 'ODE': loading...
[CoppeliaSim:loadinfo] plugin 'ODE': load succeeded.
[CoppeliaSim:loadinfo] plugin 'OMPL': loading...
[CoppeliaSim:error] plugin 'OMPL': load failed (could not load). The plugin probably couldn't load dependency libraries. For additional infos, modify the script 'libLoadErrorCheck.sh', run it and inspect the output.
[CoppeliaSim:loadinfo] plugin 'OpenGL3Renderer': loading...
[CoppeliaSim:loadinfo] plugin 'OpenGL3Renderer': load succeeded.
[CoppeliaSim:loadinfo] plugin 'OpenMesh': loading...
[CoppeliaSim:loadinfo] plugin 'OpenMesh': load succeeded.
[CoppeliaSim:loadinfo] plugin 'Qhull': loading...
[CoppeliaSim:loadinfo] plugin 'Qhull': load succeeded.
[CoppeliaSim:loadinfo] plugin 'RML2': loading...
[CoppeliaSim:loadinfo] plugin 'RML2': load succeeded.
[CoppeliaSim:loadinfo] plugin 'RRS1': loading...
[CoppeliaSim:loadinfo] plugin 'RRS1': load succeeded.
[CoppeliaSim:loadinfo] plugin 'RemoteApi': loading...
[simExtRemoteApi:loadinfo] starting a remote API server on port 19997
[CoppeliaSim:loadinfo] plugin 'RemoteApi': load succeeded.
[CoppeliaSim:loadinfo] plugin 'SDF': loading...
[CoppeliaSim:loadinfo] plugin 'SDF': load succeeded.
[CoppeliaSim:loadinfo] plugin 'SurfRec': loading...
[CoppeliaSim:loadinfo] plugin 'SurfRec': load succeeded.
[CoppeliaSim:loadinfo] plugin 'UI': loading...
[CoppeliaSim:loadinfo] plugin 'UI': load succeeded.
[CoppeliaSim:loadinfo] plugin 'URDF': loading...
[CoppeliaSim:loadinfo] plugin 'URDF': load succeeded.
[CoppeliaSim:loadinfo] plugin 'URLDrop': loading...
[CoppeliaSim:loadinfo] plugin 'URLDrop': load succeeded.
[CoppeliaSim:loadinfo] plugin 'Vision': loading...
[CoppeliaSim:loadinfo] plugin 'Vision': load succeeded.
[CoppeliaSim:loadinfo] plugin 'ZMQ': loading...
[CoppeliaSim:loadinfo] plugin 'ZMQ': load succeeded.
[CoppeliaSim:loadinfo] using the 'Geometric' plugin.
[CoppeliaSim:loadinfo] using the 'IK' plugin.
[CoppeliaSim:loadinfo] checking for an updated CoppeliaSim version...
[CoppeliaSim:loadinfo] Failed checking whether this CoppeliaSim version is up-to-date.
Please visit www.coppeliarobotics.com to verify
that you are running the last CoppeliaSim version.
(coppeliaSim:301): GVFS-RemoteVolumeMonitor-WARNING **: remote volume monitor with dbus name org.gtk.vfs.UDisks2VolumeMonitor is not supported
[CoppeliaSim:loadinfo] plugin 'ZMQ': unloading...
[CoppeliaSim:loadinfo] plugin 'ZMQ': done.
[CoppeliaSim:loadinfo] plugin 'Vision': unloading...
[CoppeliaSim:loadinfo] plugin 'Vision': done.
[CoppeliaSim:loadinfo] plugin 'URLDrop': unloading...
[CoppeliaSim:loadinfo] plugin 'URLDrop': done.
[CoppeliaSim:loadinfo] plugin 'URDF': unloading...
[CoppeliaSim:loadinfo] plugin 'URDF': done.
[CoppeliaSim:loadinfo] plugin 'UI': unloading...
[CoppeliaSim:loadinfo] plugin 'UI': done.
[CoppeliaSim:loadinfo] plugin 'SurfRec': unloading...
[CoppeliaSim:loadinfo] plugin 'SurfRec': done.
[CoppeliaSim:loadinfo] plugin 'SDF': unloading...
[CoppeliaSim:loadinfo] plugin 'SDF': done.
[CoppeliaSim:loadinfo] plugin 'RemoteApi': unloading...
[CoppeliaSim:loadinfo] plugin 'RemoteApi': done.
[CoppeliaSim:loadinfo] plugin 'RRS1': unloading...
[CoppeliaSim:loadinfo] plugin 'RRS1': done.
[CoppeliaSim:loadinfo] plugin 'RML2': unloading...
[CoppeliaSim:loadinfo] plugin 'RML2': done.
[CoppeliaSim:loadinfo] plugin 'Qhull': unloading...
[CoppeliaSim:loadinfo] plugin 'Qhull': done.
[CoppeliaSim:loadinfo] plugin 'OpenMesh': unloading...
[CoppeliaSim:loadinfo] plugin 'OpenMesh': done.
[CoppeliaSim:loadinfo] plugin 'OpenGL3Renderer': unloading...
[CoppeliaSim:loadinfo] plugin 'OpenGL3Renderer': done.
[CoppeliaSim:loadinfo] plugin 'ODE': unloading...
[CoppeliaSim:loadinfo] plugin 'ODE': done.
[CoppeliaSim:loadinfo] plugin 'Newton': unloading...
[CoppeliaSim:loadinfo] plugin 'Newton': done.
[CoppeliaSim:loadinfo] plugin 'MTB': unloading...
[CoppeliaSim:loadinfo] plugin 'MTB': done.
[CoppeliaSim:loadinfo] plugin 'LuaRemoteApiClient': unloading...
[CoppeliaSim:loadinfo] plugin 'LuaRemoteApiClient': done.
[CoppeliaSim:loadinfo] plugin 'LuaCmd': unloading...
[CoppeliaSim:loadinfo] plugin 'LuaCmd': done.
[CoppeliaSim:loadinfo] plugin 'K3': unloading...
[CoppeliaSim:loadinfo] plugin 'K3': done.
[CoppeliaSim:loadinfo] plugin 'IM': unloading...
[CoppeliaSim:loadinfo] plugin 'IM': done.
[CoppeliaSim:loadinfo] plugin 'IK': unloading...
[CoppeliaSim:loadinfo] plugin 'IK': done.
[CoppeliaSim:loadinfo] plugin 'ICP': unloading...
[CoppeliaSim:loadinfo] plugin 'ICP': done.
[CoppeliaSim:loadinfo] plugin 'Geom': unloading...
[CoppeliaSim:loadinfo] plugin 'Geom': done.
[CoppeliaSim:loadinfo] plugin 'GLTF': unloading...
[CoppeliaSim:loadinfo] plugin 'GLTF': done.
[CoppeliaSim:loadinfo] plugin 'ExternalRenderer': unloading...
[CoppeliaSim:loadinfo] plugin 'ExternalRenderer': done.
[CoppeliaSim:loadinfo] plugin 'CodeEditor': unloading...
[CoppeliaSim:loadinfo] plugin 'CodeEditor': done.
[CoppeliaSim:loadinfo] plugin 'Bullet-2-83': unloading...
[CoppeliaSim:loadinfo] plugin 'Bullet-2-83': done.
[CoppeliaSim:loadinfo] plugin 'Bullet-2-78': unloading...
[CoppeliaSim:loadinfo] plugin 'Bullet-2-78': done.
[CoppeliaSim:loadinfo] plugin 'BubbleRob': unloading...
[CoppeliaSim:loadinfo] plugin 'BubbleRob': done.
[CoppeliaSim:loadinfo] plugin 'BWF': unloading...
[CoppeliaSim:loadinfo] plugin 'BWF': done.
[CoppeliaSim:loadinfo] plugin 'B0': unloading...
[CoppeliaSim:loadinfo] plugin 'B0': done.
[CoppeliaSim:loadinfo] plugin 'Assimp': unloading...
[CoppeliaSim:loadinfo] plugin 'Assimp': done.
[CoppeliaSim:loadinfo] simulator ended.
[CoppeliaSim:loadinfo] 4
[CoppeliaSim:loadinfo] 3
[CoppeliaSim:loadinfo] 2
[CoppeliaSim:loadinfo] 1
[CoppeliaSim:loadinfo] 0
[CoppeliaSim:loadinfo] done.
[CoppeliaSimClient] unloading the CoppeliaSim library...
[CoppeliaSimClient] done.
shiyanlou:CoppeliaSim_Edu_V4_2_0_Ubuntu16_04/ $ [16:16:01]
