蓝桥ROS机器人之CoppeliaSim_Edu_V4_2_0

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代码运行次数：0运行复制

shiyanlou:Code/ $ git clone https://gitcode.net/ZhangRelay/coppeliasim_edu_v4_2_0_ubuntu16_04.gitu6b63u514bu9686u5230 '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 0u5c55u5f00u5bf9u8c61u4e2d: 100% (3/3), u5b8cu6210.u68c0u67e5u8fdeu63a5... u5b8cu6210u3002shiyanlou:Code/ $ tar -xv coppeliasim_edu_v4_2_0_ubuntu16_04/CoppeliaSim_Edu_V4_2_0_Ubuntu16_04.tar.xztar: Refusing to read archive contents from terminal (missing -f option?)tar: Error is not recoverable: exiting nowshiyanlou:Code/ $ tar --help                                         [16:06:45]u7528u6cd5: tar [u9009u9879...] [FILE]...GNU 'tar' saves many files together into a single tape or disk archive, and canrestore 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        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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                             u524du7f00u7684u4fe1u53f7u540du79f0      --utc                  u4ee5 UTC u683cu5f0fu6253u5370u6587u4ef6u4feeu6539u65f6u95f4  -v, --verbose              u8be6u7ec6u5730u5217u51fau5904u7406u7684u6587u4ef6      --warning=KEYWORD      u8b66u544au63a7u5236:  -w, --interactive, --confirmation                             u6bcfu6b21u64cdu4f5cu90fdu8981u6c42u786eu8ba4 u517cu5bb9u6027u9009u9879:  -o                         u521bu5efau5f52u6863u65f6uff0cu76f8u5f53u4e8e                             --old-archiveuff1bu5c55u5f00u5f52u6863u65f6uff0cu76f8u5f53u4e8e                             --no-same-owner u5176u5b83u9009u9879:  -?, --help                 u663eu793au6b64u5e2eu52a9u5217u8868      --restrict             u7981u7528u67d0u4e9bu6f5cu5728u7684u6709u5371u9669u7684u9009u9879      --usage                u663eu793au7b80u77edu7684u7528u6cd5u8bf4u660e      --version              u6253u5370u7a0bu5e8fu7248u672cu957fu9009u9879u548cu76f8u5e94u77edu9009u9879u5177u6709u76f8u540cu7684u5f3au5236u53c2u6570u6216u53efu9009u53c2u6570u3002The 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  clocaleu6b64 tar u9ed8u8ba4u4e3a:--format=gnu -f- -b20 --quoting-style=escape --rmt-command=/usr/lib/tar/rmt--rsh-command=/usr/bin/rshu5c06u9519u8befu62a5u544au53d1u9001u5230 u3002shiyanlou:Code/ $ tar -xf coppeliasim_edu_v4_2_0_ubuntu16_04/CoppeliaSim_Edu_V4_2_0_Ubuntu16_04.tar.xzshiyanlou: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_bubbleRobb0_resolverbubbleRobClient_b0RemoteApibubbleRobClient_remoteApibubbleRobServerbubbleRobZmqServerbwfcadFilescoppeliaSimcoppeliaSimEduV402XX-LicenseAgreement.txtcoppeliaSim.shcredits.txte-puckLicense.txthelpFilesimageformatslbr_iiwa_7_r800.iklibassimp.solibassimp.so.4libassimp.so.4.1.0libavcodec.solibavcodec.so.58libavcodec.so.58.112.101libavformat.solibavformat.so.58libavformat.so.58.64.100libavutil.solibavutil.so.56libavutil.so.56.60.100libb0.solibboost_filesystem.solibboost_filesystem.so.1.58.0libboost_program_options.solibboost_program_options.so.1.58.0libboost_regex.solibboost_regex.so.1.58.0libboost_serialization.solibboost_serialization.so.1.58.0libboost_system.solibboost_system.so.1.58.0libboost_thread.solibboost_thread.so.1.58.0libboost_timer.solibboost_timer.so.1.58.0libCGAL.solibCGAL.so.13libCGAL.so.13.0.1libcoppeliaSimHeadless.solibcoppeliaSim.solibcrypto.solibcrypto.so.1.1libicudata.solibicudata.so.56libicudata.so.56.1libicui18n.solibicui18n.so.56libicui18n.so.56.1libicuuc.solibicuuc.so.56libicuuc.so.56.1libLoadErrorCheck.shliblua5.3.soliblua5.3.so.0liblua5.3.so.0.0.0libompl.solibompl.so.1.5.0libompl.so.16libopencv_core3.solibopencv_core3.so.3.2libopencv_core3.so.3.2.0libopencv_imgcodecs3.solibopencv_imgcodecs3.so.3.2libopencv_imgcodecs3.so.3.2.0libopencv_imgproc3.solibopencv_imgproc3.so.3.2libopencv_imgproc3.so.3.2.0libopencv_videoio3.solibopencv_videoio3.so.3.2libopencv_videoio3.so.3.2.0libOpenMeshCore.solibOpenMeshCore.so.6.3libOpenMeshTools.solibOpenMeshTools.so.6.3libqscintilla2_qt5.solibqscintilla2_qt5.so.13libqscintilla2_qt5.so.13.2libqscintilla2_qt5.so.13.2.1libQt53DCore.solibQt53DCore.so.5libQt53DCore.so.5.12libQt53DCore.so.5.12.5libQt53DExtras.solibQt53DExtras.so.5libQt53DExtras.so.5.12libQt53DExtras.so.5.12.5libQt53DInput.solibQt53DInput.so.5libQt53DInput.so.5.12libQt53DInput.so.5.12.5libQt53DLogic.solibQt53DLogic.so.5libQt53DLogic.so.5.12libQt53DLogic.so.5.12.5libQt53DRender.solibQt53DRender.so.5libQt53DRender.so.5.12libQt53DRender.so.5.12.5libQt5Concurrent.solibQt5Concurrent.so.5libQt5Concurrent.so.5.12libQt5Concurrent.so.5.12.5libQt5Core.solibQt5Core.so.5libQt5Core.so.5.12libQt5Core.so.5.12.5libQt5DBus.solibQt5DBus.so.5libQt5DBus.so.5.12libQt5DBus.so.5.12.5libQt5Gamepad.solibQt5Gamepad.so.5libQt5Gamepad.so.5.12libQt5Gamepad.so.5.12.5libQt5Gui.solibQt5Gui.so.5libQt5Gui.so.5.12libQt5Gui.so.5.12.5libQt5Network.solibQt5Network.so.5libQt5Network.so.5.12libQt5Network.so.5.12.5libQt5OpenGL.solibQt5OpenGL.so.5libQt5OpenGL.so.5.12libQt5OpenGL.so.5.12.5libQt5PrintSupport.solibQt5PrintSupport.so.5libQt5PrintSupport.so.5.12libQt5PrintSupport.so.5.12.5libQt5SerialPort.solibQt5SerialPort.so.5libQt5SerialPort.so.5.12libQt5SerialPort.so.5.12.5libQt5Svg.solibQt5Svg.so.5libQt5Svg.so.5.12libQt5Svg.so.5.12.5libQt5Widgets.solibQt5Widgets.so.5libQt5Widgets.so.5.12libQt5Widgets.so.5.12.5libQt5XcbQpa.solibQt5XcbQpa.so.5libQt5XcbQpa.so.5.12libQt5XcbQpa.so.5.12.5libQt5Xml.solibQt5Xml.so.5libQt5Xml.so.5.12libQt5Xml.so.5.12.5libsimExtAssimp.solibsimExtB0.solibsimExtBubbleRob.solibsimExtBullet-2-78.solibsimExtBullet-2-83.solibsimExtBWF.solibsimExtCodeEditor.solibsimExtConvexDecompose.solibsimExtExternalRenderer.solibsimExtGeom.solibsimExtGLTF.solibsimExtICP.solibsimExtIK.solibsimExtIM.solibsimExtK3.solibsimExtLuaCmd.solibsimExtLuaRemoteApiClient.solibsimExtMTB.solibsimExtNewton.solibsimExtODE.solibsimExtOMPL.solibsimExtOpenGL3Renderer.solibsimExtOpenMesh.solibsimExtQhull.solibsimExtRemoteApi.solibsimExtRML2.solibsimExtRRS1.solibsimExtSDF.solibsimExtSurfRec.solibsimExtUI.solibsimExtURDF.solibsimExtURLDrop.solibsimExtVision.solibsimExtZMQ.solibSL.solibsodium.so.18libsodium.so.18.0.1libssl.solibssl.so.1.1libswresample.solibswresample.so.3libswresample.so.3.8.100libswscale.solibswscale.so.5libswscale.so.5.8.100libtbbmalloc_proxy.solibtbbmalloc_proxy.so.2libtbbmalloc.solibtbbmalloc.so.2libtbb_preview.solibtbb_preview.so.2libtbb.solibtbb.so.2libv_rep.solibvvcl.solibVxCore.solibVxCore.so.2020.3libVxCore.so.2020.3.0.68libVxFoundation.solibVxFoundation.so.2020.3libVxFoundation.so.2020.3.0.68libVxMath.solibVxMath.so.2020.3libVxMath.so.2020.3.0.68libVxPlatform.solibVxPlatform.so.2020.3libVxPlatform.so.2020.3.0.68libzmq.so.5libzmq.so.5.0.0license.txtlualuarmodelsmtbServeropenCvRelated.tar.xzplatformsplatformthemesprogrammingrcsServerreadme.txtremoteApiConnections.txtscenessensorssimAddOnB0 remote Api server.luasimAddOnColor changer.luasimAddOnContact display.luasimAddOnCustom data block explorer.luasimAddOnDenavit Hartenberg creator.luasimAddOnDenavit Hartenberg extractor.luasimAddOnGenerate notepad++ files.luasimAddOnGLTF animation exporter.luasimAddOnGLTF exporter.luasimAddOnIsometric scaling.luasimAddOnMesh decimation.luasimAddOnMinimalistic exporter.luasimAddOnMinimalistic importer.luasimAddOnName change.luasimAddOnPlugin enumerator.luasimAddOnPoint cloud importer.luasimAddOnPyRep.luasimAddOnScreenshot tool.luasimAddOnSDF importer.luasimAddOnSimulation stepper.luasimAddOnSurface reconstruction.luasnippetsstandAloneKinematicsDemo1standAloneKinematicsDemo2systemvortexPluginxcbglintegrationsshiyanlou: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-0101QStandardPaths: 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]

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