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。

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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： 

shiyanlou:Code/ $ git clone https://gitcode.net/ZhangRelay/coppeliasim_edu_v4_2_0_ubuntu16_04.git
\u6b63\u514b\u9686\u5230 '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
\u5c55\u5f00\u5bf9\u8c61\u4e2d: 100% (3/3), \u5b8c\u6210.
\u68c0\u67e5\u8fde\u63a5... \u5b8c\u6210\u3002
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]
\u7528\u6cd5: tar [\u9009\u9879...] [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.

 \u4e3b\u64cd\u4f5c\u6a21\u5f0f:

  -A, --catenate, --concatenate   \u8ffd\u52a0 tar \u6587\u4ef6\u81f3\u5f52\u6863
  -c, --create               \u521b\u5efa\u4e00\u4e2a\u65b0\u5f52\u6863
  -d, --diff, --compare      \u627e\u51fa\u5f52\u6863\u548c\u6587\u4ef6\u7cfb\u7edf\u7684\u5dee\u5f02
      --delete               \u4ece\u5f52\u6863(\u975e\u78c1\u5e26\uff01)\u4e2d\u5220\u9664
  -r, --append               \u8ffd\u52a0\u6587\u4ef6\u81f3\u5f52\u6863\u7ed3\u5c3e
  -t, --list                 \u5217\u51fa\u5f52\u6863\u5185\u5bb9
      --test-label           \u6d4b\u8bd5\u5f52\u6863\u5377\u6807\u5e76\u9000\u51fa
  -u, --update               \u4ec5\u8ffd\u52a0\u6bd4\u5f52\u6863\u4e2d\u526f\u672c\u66f4\u65b0\u7684\u6587\u4ef6
  -x, --extract, --get       \u4ece\u5f52\u6863\u4e2d\u89e3\u51fa\u6587\u4ef6

 \u64cd\u4f5c\u4fee\u9970\u7b26:

      --check-device         \u5f53\u521b\u5efa\u589e\u91cf\u5f52\u6863\u65f6\u68c0\u67e5\u8bbe\u5907\u53f7(\u9ed8\u8ba4)
  -g, --listed-incremental=FILE   \u5904\u7406\u65b0\u5f0f\u7684 GNU \u683c\u5f0f\u7684\u589e\u91cf\u5907\u4efd
  -G, --incremental          \u5904\u7406\u8001\u5f0f\u7684 GNU \u683c\u5f0f\u7684\u589e\u91cf\u5907\u4efd
      --ignore-failed-read
                             \u5f53\u9047\u4e0a\u4e0d\u53ef\u8bfb\u6587\u4ef6\u65f6\u4e0d\u8981\u4ee5\u975e\u96f6\u503c\u9000\u51fa
      --level=NUMBER         \u6240\u521b\u5efa\u7684\u589e\u91cf\u5217\u8868\u5f52\u6863\u7684\u8f93\u51fa\u7ea7\u522b
  -n, --seek                 \u5f52\u6863\u53ef\u68c0\u7d22
      --no-check-device      \u5f53\u521b\u5efa\u589e\u91cf\u5f52\u6863\u65f6\u4e0d\u8981\u68c0\u67e5\u8bbe\u5907\u53f7
      --no-seek              \u5f52\u6863\u4e0d\u53ef\u68c0\u7d22
      --occurrence[=NUMBER]  \u4ec5\u5904\u7406\u5f52\u6863\u4e2d\u6bcf\u4e2a\u6587\u4ef6\u7684\u7b2c NUMBER
                             \u4e2a\u4e8b\u4ef6\uff1b\u4ec5\u5f53\u4e0e\u4ee5\u4e0b\u5b50\u547d\u4ee4 --delete,
                             --diff, --extract \u6216\u662f --list
                             \u4e2d\u7684\u4e00\u4e2a\u8054\u5408\u4f7f\u7528\u65f6\uff0c\u6b64\u9009\u9879\u624d\u6709\u6548\u3002\u800c\u4e14\u4e0d\u7ba1\u6587\u4ef6\u5217\u8868\u662f\u4ee5\u547d\u4ee4\u884c\u5f62\u5f0f\u7ed9\u51fa\u6216\u662f\u901a\u8fc7
                             -T \u9009\u9879\u6307\u5b9a\u7684\uff1bNUMBER \u503c\u9ed8\u8ba4\u4e3a 1
      --sparse-version=MAJOR[.MINOR]
                             \u8bbe\u7f6e\u6240\u7528\u7684\u79bb\u6563\u683c\u5f0f\u7248\u672c(\u9690\u542b
                             --sparse)
  -S, --sparse               \u9ad8\u6548\u5904\u7406\u79bb\u6563\u6587\u4ef6

 \u91cd\u5199\u63a7\u5236:

  -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
                             \u4e0d\u8981\u66ff\u6362\u6bd4\u5f52\u6863\u4e2d\u526f\u672c\u66f4\u65b0\u7684\u5df2\u5b58\u5728\u7684\u6587\u4ef6
      --no-overwrite-dir     \u4fdd\u7559\u5df2\u5b58\u5728\u76ee\u5f55\u7684\u5143\u6570\u636e
      --one-top-level[=DIR]  create a subdirectory to avoid having loose files
                             extracted
      --overwrite            \u89e3\u538b\u65f6\u91cd\u5199\u5b58\u5728\u7684\u6587\u4ef6
      --overwrite-dir        \u89e3\u538b\u65f6\u91cd\u5199\u5df2\u5b58\u5728\u76ee\u5f55\u7684\u5143\u6570\u636e(\u9ed8\u8ba4)
                            
      --recursive-unlink     \u89e3\u538b\u76ee\u5f55\u4e4b\u524d\u5148\u6e05\u9664\u76ee\u5f55\u5c42\u6b21
      --remove-files         \u5728\u6dfb\u52a0\u6587\u4ef6\u81f3\u5f52\u6863\u540e\u5220\u9664\u5b83\u4eec
      --skip-old-files       don't replace existing files when extracting,
                             silently skip over them
  -U, --unlink-first         \u5728\u89e3\u538b\u8981\u91cd\u5199\u7684\u6587\u4ef6\u4e4b\u524d\u5148\u5220\u9664\u5b83\u4eec
  -W, --verify               \u5728\u5199\u5165\u4ee5\u540e\u5c1d\u8bd5\u6821\u9a8c\u5f52\u6863

 \u9009\u62e9\u8f93\u51fa\u6d41:

      --ignore-command-error \u5ffd\u7565\u5b50\u8fdb\u7a0b\u7684\u9000\u51fa\u4ee3\u7801
      --no-ignore-command-error
                             \u5c06\u5b50\u8fdb\u7a0b\u7684\u975e\u96f6\u9000\u51fa\u4ee3\u7801\u8ba4\u4e3a\u53d1\u751f\u9519\u8bef
  -O, --to-stdout            \u89e3\u538b\u6587\u4ef6\u81f3\u6807\u51c6\u8f93\u51fa
      --to-command=COMMAND
                             \u5c06\u89e3\u538b\u7684\u6587\u4ef6\u901a\u8fc7\u7ba1\u9053\u4f20\u9001\u81f3\u53e6\u4e00\u4e2a\u7a0b\u5e8f

 \u64cd\u4f5c\u6587\u4ef6\u5c5e\u6027:

      --atime-preserve[=METHOD]
                             \u5728\u8f93\u51fa\u7684\u6587\u4ef6\u4e0a\u4fdd\u7559\u8bbf\u95ee\u65f6\u95f4\uff0c\u8981\u4e48\u901a\u8fc7\u5728\u8bfb\u53d6(\u9ed8\u8ba4
                             METHOD=\u2018replace\u2019)\u540e\u8fd8\u539f\u65f6\u95f4\uff0c\u8981\u4e0d\u5c31\u4e0d\u8981\u5728\u7b2c\u4e00\u6b21(METHOD=\u2018system\u2019)\u8bbe\u7f6e\u65f6\u95f4
      --clamp-mtime          only set time when the file is more recent than
                             what was given with --mtime
      --delay-directory-restore
                             \u76f4\u5230\u89e3\u538b\u7ed3\u675f\u624d\u8bbe\u7f6e\u4fee\u6539\u65f6\u95f4\u548c\u6240\u89e3\u76ee\u5f55\u7684\u6743\u9650
      --group=\u540d\u79f0         \u5f3a\u5236\u5c06 NAME
                             \u4f5c\u4e3a\u6240\u6dfb\u52a0\u7684\u6587\u4ef6\u7684\u7ec4\u6240\u6709\u8005
      --mode=CHANGES         \u5f3a\u5236\u5c06\u6240\u6dfb\u52a0\u7684\u6587\u4ef6(\u7b26\u53f7)\u66f4\u6539\u4e3a\u6743\u9650
                             CHANGES
      --mtime=DATE-OR-FILE   \u4ece DATE-OR-FILE \u4e2d\u4e3a\u6dfb\u52a0\u7684\u6587\u4ef6\u8bbe\u7f6e
                             mtime
  -m, --touch                \u4e0d\u8981\u89e3\u538b\u6587\u4ef6\u7684\u4fee\u6539\u65f6\u95f4
      --no-delay-directory-restore
                             \u53d6\u6d88 --delay-directory-restore \u9009\u9879\u7684\u6548\u679c
      --no-same-owner
                             \u5c06\u6587\u4ef6\u89e3\u538b\u4e3a\u60a8\u6240\u6709(\u666e\u901a\u7528\u6237\u9ed8\u8ba4\u6b64\u9879)
      --no-same-permissions
                             \u4ece\u5f52\u6863\u4e2d\u89e3\u538b\u6743\u9650\u65f6\u4f7f\u7528\u7528\u6237\u7684\u63a9\u7801\u4f4d(\u9ed8\u8ba4\u4e3a\u666e\u901a\u7528\u6237\u670d\u52a1)
      --numeric-owner        \u603b\u662f\u4ee5\u6570\u5b57\u4ee3\u8868\u7528\u6237/\u7ec4\u7684\u540d\u79f0
      --owner=\u540d\u79f0         \u5f3a\u5236\u5c06 NAME
                             \u4f5c\u4e3a\u6240\u6dfb\u52a0\u7684\u6587\u4ef6\u7684\u6240\u6709\u8005
  -p, --preserve-permissions, --same-permissions
                             \u89e3\u538b\u6587\u4ef6\u6743\u9650\u4fe1\u606f(\u9ed8\u8ba4\u53ea\u4e3a\u8d85\u7ea7\u7528\u6237\u670d\u52a1)
      --preserve             \u4e0e -p \u548c -s \u4e00\u6837
      --same-owner
                             \u5c1d\u8bd5\u89e3\u538b\u65f6\u4fdd\u6301\u6240\u6709\u8005\u5173\u7cfb\u4e00\u81f4(\u8d85\u7ea7\u7528\u6237\u9ed8\u8ba4\u6b64\u9879)
  -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

 \u8bbe\u5907\u9009\u62e9\u548c\u5207\u6362:

  -f, --file=ARCHIVE         \u4f7f\u7528\u5f52\u6863\u6587\u4ef6\u6216 ARCHIVE \u8bbe\u5907
      --force-local
                             \u5373\u4f7f\u5f52\u6863\u6587\u4ef6\u5b58\u5728\u526f\u672c\u8fd8\u662f\u628a\u5b83\u8ba4\u4e3a\u662f\u672c\u5730\u5f52\u6863
  -F, --info-script=\u540d\u79f0, --new-volume-script=\u540d\u79f0
                             \u5728\u6bcf\u5377\u78c1\u5e26\u6700\u540e\u8fd0\u884c\u811a\u672c(\u9690\u542b -M)
  -L, --tape-length=NUMBER   \u5199\u5165 NUMBER × 1024 \u5b57\u8282\u540e\u66f4\u6362\u78c1\u5e26
  -M, --multi-volume         \u521b\u5efa/\u5217\u51fa/\u89e3\u538b\u591a\u5377\u5f52\u6863\u6587\u4ef6
      --rmt-command=COMMAND  \u4f7f\u7528\u6307\u5b9a\u7684 rmt COMMAND \u4ee3\u66ff rmt
      --rsh-command=COMMAND  \u4f7f\u7528\u8fdc\u7a0b COMMAND \u4ee3\u66ff rsh
      --volno-file=FILE      \u4f7f\u7528/\u66f4\u65b0 FILE \u4e2d\u7684\u5377\u6570

 \u8bbe\u5907\u5206\u5757:

  -b, --blocking-factor=BLOCKS   \u6bcf\u4e2a\u8bb0\u5f55 BLOCKS x 512 \u5b57\u8282
  -B, --read-full-records    \u8bfb\u53d6\u65f6\u91cd\u65b0\u5206\u5757(\u53ea\u5bf9 4.2BSD \u7ba1\u9053\u6709\u6548)
  -i, --ignore-zeros         \u5ffd\u7565\u5f52\u6863\u4e2d\u7684\u96f6\u5b57\u8282\u5757(\u5373\u6587\u4ef6\u7ed3\u5c3e)
      --record-size=NUMBER   \u6bcf\u4e2a\u8bb0\u5f55\u7684\u5b57\u8282\u6570 NUMBER\uff0c\u4e58\u4ee5 512

 \u9009\u62e9\u5f52\u6863\u683c\u5f0f:

  -H, --format=FORMAT        \u521b\u5efa\u6307\u5b9a\u683c\u5f0f\u7684\u5f52\u6863

 FORMAT \u662f\u4ee5\u4e0b\u683c\u5f0f\u4e2d\u7684\u4e00\u79cd:

    gnu                      GNU tar 1.13.x \u683c\u5f0f
    oldgnu                   GNU \u683c\u5f0f as per tar <= 1.12
    pax                      POSIX 1003.1-2001 (pax) \u683c\u5f0f
    posix                    \u7b49\u540c\u4e8e pax
    ustar                    POSIX 1003.1-1988 (ustar) \u683c\u5f0f
    v7                       old V7 tar \u683c\u5f0f

      --old-archive, --portability
                             \u7b49\u540c\u4e8e --format=v7
      --pax-option=\u5173\u952e\u5b57[[:]=\u503c][,\u5173\u952e\u5b57[[:]=\u503c]]...
                             \u63a7\u5236 pax \u5173\u952e\u5b57
      --posix                \u7b49\u540c\u4e8e --format=posix
  -V, --label=TEXT           \u521b\u5efa\u5e26\u6709\u5377\u540d TEXT
                             \u7684\u5f52\u6863\uff1b\u5728\u5217\u51fa/\u89e3\u538b\u65f6\uff0c\u4f7f\u7528 TEXT
                             \u4f5c\u4e3a\u5377\u540d\u7684\u6a21\u5f0f\u4e32

 \u538b\u7f29\u9009\u9879:

  -a, --auto-compress        \u4f7f\u7528\u5f52\u6863\u540e\u7f00\u540d\u6765\u51b3\u5b9a\u538b\u7f29\u7a0b\u5e8f
  -I, --use-compress-program=PROG
                             \u901a\u8fc7 PROG \u8fc7\u6ee4(\u5fc5\u987b\u662f\u80fd\u63a5\u53d7 -d
                             \u9009\u9879\u7684\u7a0b\u5e8f)
  -j, --bzip2                \u901a\u8fc7 bzip2 \u8fc7\u6ee4\u5f52\u6863
  -J, --xz                   \u901a\u8fc7 xz \u8fc7\u6ee4\u5f52\u6863
      --lzip                 \u901a\u8fc7 lzip \u8fc7\u6ee4\u5f52\u6863
      --lzma                 \u901a\u8fc7 xz \u8fc7\u6ee4\u5f52\u6863
      --lzop                 \u901a\u8fc7 xz \u8fc7\u6ee4\u5f52\u6863
      --no-auto-compress     \u4e0d\u4f7f\u7528\u5f52\u6863\u540e\u7f00\u540d\u6765\u51b3\u5b9a\u538b\u7f29\u7a0b\u5e8f
  -z, --gzip, --gunzip, --ungzip   \u901a\u8fc7 gzip \u8fc7\u6ee4\u5f52\u6863
  -Z, --compress, --uncompress   \u901a\u8fc7 compress \u8fc7\u6ee4\u5f52\u6863

 \u672c\u5730\u6587\u4ef6\u9009\u62e9:

      --add-file=FILE        \u6dfb\u52a0\u6307\u5b9a\u7684 FILE \u81f3\u5f52\u6863(\u5982\u679c\u540d\u5b57\u4ee5 -
                             \u5f00\u59cb\u4f1a\u5f88\u6709\u7528\u7684)
      --backup[=CONTROL]     \u5728\u5220\u9664\u524d\u5907\u4efd\uff0c\u9009\u62e9 CONTROL \u7248\u672c
  -C, --directory=DIR        \u6539\u53d8\u81f3\u76ee\u5f55 DIR
      --exclude=PATTERN      \u6392\u9664\u4ee5 PATTERN \u6307\u5b9a\u7684\u6587\u4ef6
      --exclude-backups      \u6392\u9664\u5907\u4efd\u548c\u9501\u6587\u4ef6
      --exclude-caches       \u9664\u6807\u8bc6\u6587\u4ef6\u672c\u8eab\u5916\uff0c\u6392\u9664\u5305\u542b
                             CACHEDIR.TAG \u7684\u76ee\u5f55\u4e2d\u7684\u5185\u5bb9
      --exclude-caches-all   \u6392\u9664\u5305\u542b CACHEDIR.TAG \u7684\u76ee\u5f55
      --exclude-caches-under \u6392\u9664\u5305\u542b CACHEDIR.TAG
                             \u7684\u76ee\u5f55\u4e2d\u6240\u6709\u5185\u5bb9
      --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 \u81ea\u8eab\u5916\uff0c\u6392\u9664\u5305\u542b FILE
                             \u7684\u76ee\u5f55\u4e2d\u7684\u5185\u5bb9
      --exclude-tag-all=FILE \u6392\u9664\u5305\u542b FILE \u7684\u76ee\u5f55
      --exclude-tag-under=FILE   \u6392\u9664\u5305\u542b FILE \u7684\u76ee\u5f55\u4e2d\u7684\u6240\u6709\u5185\u5bb9
      --exclude-vcs          \u6392\u9664\u7248\u672c\u63a7\u5236\u7cfb\u7edf\u76ee\u5f55
      --exclude-vcs-ignores  read exclude patterns from the VCS ignore files
  -h, --dereference
                             \u8ddf\u8e2a\u7b26\u53f7\u94fe\u63a5\uff1b\u5c06\u5b83\u4eec\u6240\u6307\u5411\u7684\u6587\u4ef6\u5f52\u6863\u5e76\u8f93\u51fa
      --hard-dereference
                             \u8ddf\u8e2a\u786c\u94fe\u63a5\uff1b\u5c06\u5b83\u4eec\u6240\u6307\u5411\u7684\u6587\u4ef6\u5f52\u6863\u5e76\u8f93\u51fa
  -K, --starting-file=MEMBER-NAME
                             begin at member MEMBER-NAME when reading the
                             archive
      --newer-mtime=DATE     \u5f53\u53ea\u6709\u6570\u636e\u6539\u53d8\u65f6\u6bd4\u8f83\u6570\u636e\u548c\u65f6\u95f4
      --no-null              \u7981\u7528\u4e0a\u4e00\u6b21\u7684\u6548\u679c --null \u9009\u9879
      --no-recursion         \u907f\u514d\u76ee\u5f55\u4e2d\u7684\u81ea\u52a8\u964d\u7ea7
      --no-unquote           do not unquote input file or member names
      --null                 -T \u8bfb\u53d6\u4ee5\u7a7a\u7ec8\u6b62\u7684\u540d\u5b57\uff0c-C \u7981\u7528
  -N, --newer=DATE-OR-FILE, --after-date=DATE-OR-FILE
                             \u53ea\u4fdd\u5b58\u6bd4 DATE-OR-FILE \u66f4\u65b0\u7684\u6587\u4ef6
      --one-file-system      \u521b\u5efa\u5f52\u6863\u65f6\u4fdd\u5b58\u5728\u672c\u5730\u6587\u4ef6\u7cfb\u7edf\u4e2d
  -P, --absolute-names       don't strip leading '/'s from file names
      --recursion            \u76ee\u5f55\u9012\u5f52(\u9ed8\u8ba4)
      --suffix=STRING        \u5728\u5220\u9664\u524d\u5907\u4efd\uff0c\u9664\u975e\u88ab\u73af\u5883\u53d8\u91cf
                             SIMPLE_BACKUP_SUFFIX
                             \u8986\u76d6\uff0c\u5426\u5219\u8986\u76d6\u5e38\u7528\u540e\u7f00(\u2018\u2019)
  -T, --files-from=FILE      \u4ece FILE
                             \u4e2d\u83b7\u53d6\u6587\u4ef6\u540d\u6765\u89e3\u538b\u6216\u521b\u5efa\u6587\u4ef6
      --unquote              unquote input file or member names (default)
  -X, --exclude-from=FILE    \u6392\u9664 FILE \u4e2d\u5217\u51fa\u7684\u6a21\u5f0f\u4e32

 \u6587\u4ef6\u540d\u53d8\u6362:

      --strip-components=NUMBER   \u89e3\u538b\u65f6\u4ece\u6587\u4ef6\u540d\u4e2d\u6e05\u9664 NUMBER
                             \u4e2a\u5f15\u5bfc\u90e8\u5206
      --transform=EXPRESSION, --xform=EXPRESSION
                             \u4f7f\u7528 sed \u4ee3\u66ff EXPRESSION
                             \u6765\u8fdb\u884c\u6587\u4ef6\u540d\u53d8\u6362

 \u6587\u4ef6\u540d\u5339\u914d\u9009\u9879(\u540c\u65f6\u5f71\u54cd\u6392\u9664\u548c\u5305\u62ec\u6a21\u5f0f\u4e32):

      --anchored             \u6a21\u5f0f\u4e32\u5339\u914d\u6587\u4ef6\u540d\u5934\u90e8
      --ignore-case          \u5ffd\u7565\u5927\u5c0f\u5199
      --no-anchored          patterns match after any '/' (default for
                             exclusion)
      --no-ignore-case       \u5339\u914d\u5927\u5c0f\u5199(\u9ed8\u8ba4)
      --no-wildcards         \u9010\u5b57\u5339\u914d\u5b57\u7b26\u4e32
      --no-wildcards-match-slash   wildcards do not match '/'
      --wildcards            \u4f7f\u7528\u901a\u914d\u7b26(\u9ed8\u8ba4\u5bf9 exclusion )
      --wildcards-match-slash   wildcards match '/' (default for exclusion)

 \u63d0\u793a\u6027\u8f93\u51fa:

      --checkpoint[=NUMBER]  \u6bcf\u9694 NUMBER
                             \u4e2a\u8bb0\u5f55\u663e\u793a\u8fdb\u5ea6\u4fe1\u606f(\u9ed8\u8ba4\u4e3a 10 \u4e2a)
      --checkpoint-action=ACTION   \u5728\u6bcf\u4e2a\u68c0\u67e5\u70b9\u4e0a\u6267\u884c ACTION
      --full-time            \u6309\u6587\u4ef6\u539f\u672c\u65f6\u95f4\u683c\u5f0f\u6253\u5370
      --index-file=FILE      \u5c06\u8be6\u7ec6\u8f93\u51fa\u53d1\u9001\u81f3 FILE
  -l, --check-links
                             \u53ea\u8981\u4e0d\u662f\u6240\u6709\u94fe\u63a5\u90fd\u88ab\u8f93\u51fa\u5c31\u6253\u5370\u4fe1\u606f
      --no-quote-chars=STRING   \u7981\u7528\u6765\u81ea STRING \u7684\u5b57\u7b26\u5f15\u7528
      --quote-chars=STRING   \u6765\u81ea STRING \u7684\u989d\u5916\u7684\u5f15\u7528\u5b57\u7b26
      --quoting-style=STYLE  \u8bbe\u7f6e\u540d\u79f0\u5f15\u7528\u98ce\u683c\uff1b\u6709\u6548\u7684 STYLE
                             \u503c\u8bf7\u53c2\u9605\u4ee5\u4e0b\u8bf4\u660e
  -R, --block-number         \u6bcf\u4e2a\u4fe1\u606f\u90fd\u663e\u793a\u5f52\u6863\u5185\u7684\u5757\u6570
      --show-defaults        \u663e\u793a tar \u9ed8\u8ba4\u9009\u9879
      --show-omitted-dirs
                             \u5217\u8868\u6216\u89e3\u538b\u65f6\uff0c\u5217\u51fa\u6bcf\u4e2a\u4e0d\u5339\u914d\u67e5\u627e\u6807\u51c6\u7684\u76ee\u5f55
      --show-snapshot-field-ranges
                             show valid ranges for snapshot-file fields
      --show-transformed-names, --show-stored-names
                             \u663e\u793a\u53d8\u6362\u540e\u7684\u6587\u4ef6\u540d\u6216\u5f52\u6863\u540d
      --totals[=SIGNAL]      \u5904\u7406\u5f52\u6863\u540e\u6253\u5370\u51fa\u603b\u5b57\u8282\u6570\uff1b\u5f53\u6b64
                             SIGNAL \u88ab\u89e6\u53d1\u65f6\u5e26\u53c2\u6570 -
                             \u6253\u5370\u603b\u5b57\u8282\u6570\uff1b\u5141\u8bb8\u7684\u4fe1\u53f7\u4e3a:
                             SIGHUP\uff0cSIGQUIT\uff0cSIGINT\uff0cSIGUSR1 \u548c
                             SIGUSR2\uff1b\u540c\u65f6\u4e5f\u63a5\u53d7\u4e0d\u5e26 SIG
                             \u524d\u7f00\u7684\u4fe1\u53f7\u540d\u79f0
      --utc                  \u4ee5 UTC \u683c\u5f0f\u6253\u5370\u6587\u4ef6\u4fee\u6539\u65f6\u95f4
  -v, --verbose              \u8be6\u7ec6\u5730\u5217\u51fa\u5904\u7406\u7684\u6587\u4ef6
      --warning=KEYWORD      \u8b66\u544a\u63a7\u5236:
  -w, --interactive, --confirmation
                             \u6bcf\u6b21\u64cd\u4f5c\u90fd\u8981\u6c42\u786e\u8ba4

 \u517c\u5bb9\u6027\u9009\u9879:

  -o                         \u521b\u5efa\u5f52\u6863\u65f6\uff0c\u76f8\u5f53\u4e8e
                             --old-archive\uff1b\u5c55\u5f00\u5f52\u6863\u65f6\uff0c\u76f8\u5f53\u4e8e
                             --no-same-owner

 \u5176\u5b83\u9009\u9879:

  -?, --help                 \u663e\u793a\u6b64\u5e2e\u52a9\u5217\u8868
      --restrict             \u7981\u7528\u67d0\u4e9b\u6f5c\u5728\u7684\u6709\u5371\u9669\u7684\u9009\u9879
      --usage                \u663e\u793a\u7b80\u77ed\u7684\u7528\u6cd5\u8bf4\u660e
      --version              \u6253\u5370\u7a0b\u5e8f\u7248\u672c

\u957f\u9009\u9879\u548c\u76f8\u5e94\u77ed\u9009\u9879\u5177\u6709\u76f8\u540c\u7684\u5f3a\u5236\u53c2\u6570\u6216\u53ef\u9009\u53c2\u6570\u3002

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 \u9009\u9879\u7684\u6709\u6548\u53c2\u6570\u4e3a:

  literal
  shell
  shell-always
  c
  c-maybe
  escape
  locale
  clocale

\u6b64 tar \u9ed8\u8ba4\u4e3a:
--format=gnu -f- -b20 --quoting-style=escape --rmt-command=/usr/lib/tar/rmt
--rsh-command=/usr/bin/rsh

\u5c06\u9519\u8bef\u62a5\u544a\u53d1\u9001\u5230 <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]

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