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Can't load in headless mode

http://forum.coppeliarobotics.com/viewtopic.php?t=9530

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Can't load in headless mode

Posted: 09 Dec 2021, 07:44
by yifanzhou
Hello,
I try to use the headless mode in the command line, but I failed. The error is as follows:

Code: Select all

@@
[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: 4E80-5CE3-9523-9C4A-F7E3-7005
[CoppeliaSim:loadinfo]   Machine ID: 4B5F-736C-D91C-0E36-9A09-0001
[CoppeliaSim:loadinfo]   using the default Lua library.
[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...
[simExtCodeEditor:error]   cannot load in headless mode
[CoppeliaSim:error]   plugin 'CodeEditor': load failed (failed initialization).
[CoppeliaSim:loadinfo]   plugin 'ConvexDecompose': loading...
[CoppeliaSim:loadinfo]   plugin 'ConvexDecompose': load succeeded.
[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...
[simExtLuaCmd:error]   cannot find the statusbar widget
[CoppeliaSim:error]   plugin 'LuaCmd': load failed (failed initialization).
[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:loadinfo]   plugin 'OMPL': load succeeded.
[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 'ROS2': loading...
[CoppeliaSim:error]   plugin 'ROS2': load failed (could not load). The plugin probably couldn't load dependency libraries. Try rebuilding the plugin.
[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...
[simExtUI:error]   doesn't work in headless mode
[CoppeliaSim:error]   plugin 'UI': load failed (failed initialization).
[CoppeliaSim:loadinfo]   plugin 'URDF': loading...
[CoppeliaSim:loadinfo]   plugin 'URDF': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'URLDrop': loading...
[simExtURLDrop:error]   cannot start in headless mode
[CoppeliaSim:error]   plugin 'URLDrop': load failed (failed initialization).
[CoppeliaSim:loadinfo]   plugin 'Vision': loading...
[CoppeliaSim:loadinfo]   plugin 'Vision': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'ZMQ': loading...
[CoppeliaSim:loadinfo]   plugin 'ZMQ': load succeeded.
[CoppeliaSim:error]   scene could not be opened.
[CoppeliaSim:loadinfo]   using the 'Geometric' plugin.
[CoppeliaSim:loadinfo]   using the 'IK' plugin.
[CoppeliaSim:error]   External call to simCallScriptFunction failed (get_tip_position@youBot): Script does not exist.
[CoppeliaSim:loadinfo]   external exit request: 2
[CoppeliaSim:loadinfo]   plugin 'ZMQ': unloading...
[CoppeliaSim:loadinfo]   plugin 'ZMQ': done.
[CoppeliaSim:loadinfo]   plugin 'Vision': unloading...
[CoppeliaSim:loadinfo]   plugin 'Vision': done.
[CoppeliaSim:loadinfo]   plugin 'URDF': unloading...
[CoppeliaSim:loadinfo]   plugin 'URDF': 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]   external exit request: 2
[CoppeliaSim:loadinfo]   external exit request: 2
[CoppeliaSim:loadinfo]   external exit request: 2
[CoppeliaSim:loadinfo]   external exit request: 2
[CoppeliaSim:loadinfo]   external exit request: 2
[CoppeliaSim:loadinfo]   external exit request: 2
[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 'OMPL': unloading...
[CoppeliaSim:loadinfo]   plugin 'OMPL': 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 '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 'ConvexDecompose': unloading...
[CoppeliaSim:loadinfo]   plugin 'ConvexDecompose': 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.

C:\Program Files\CoppeliaRobotics\CoppeliaSimEdu>coppeliaSim.exe -h all.ttt
[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: 4E80-5CE3-9523-9C4A-F7E3-7005
[CoppeliaSim:loadinfo]   Machine ID: 4B5F-736C-D91C-0E36-9A09-0001
[CoppeliaSim:loadinfo]   using the default Lua library.
[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...
[simExtCodeEditor:error]   cannot load in headless mode
[CoppeliaSim:error]   plugin 'CodeEditor': load failed (failed initialization).
[CoppeliaSim:loadinfo]   plugin 'ConvexDecompose': loading...
[CoppeliaSim:loadinfo]   plugin 'ConvexDecompose': load succeeded.
[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...
[simExtLuaCmd:error]   cannot find the statusbar widget
[CoppeliaSim:error]   plugin 'LuaCmd': load failed (failed initialization).
[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:loadinfo]   plugin 'OMPL': load succeeded.
[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 'ROS2': loading...
[CoppeliaSim:error]   plugin 'ROS2': load failed (could not load). The plugin probably couldn't load dependency libraries. Try rebuilding the plugin.
[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...
[simExtUI:error]   doesn't work in headless mode
[CoppeliaSim:error]   plugin 'UI': load failed (failed initialization).
[CoppeliaSim:loadinfo]   plugin 'URDF': loading...
[CoppeliaSim:loadinfo]   plugin 'URDF': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'URLDrop': loading...
[simExtURLDrop:error]   cannot start in headless mode
[CoppeliaSim:error]   plugin 'URLDrop': load failed (failed initialization).
[CoppeliaSim:loadinfo]   plugin 'Vision': loading...
[CoppeliaSim:loadinfo]   plugin 'Vision': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'ZMQ': loading...
[CoppeliaSim:loadinfo]   plugin 'ZMQ': load succeeded.
[CoppeliaSim:error]   scene could not be opened.
[CoppeliaSim:loadinfo]   using the 'Geometric' plugin.
[CoppeliaSim:loadinfo]   using the 'IK' plugin.
[CoppeliaSim:loadinfo]   external exit request: 2
[CoppeliaSim:loadinfo]   plugin 'ZMQ': unloading...
[CoppeliaSim:loadinfo]   plugin 'ZMQ': done.
[CoppeliaSim:loadinfo]   plugin 'Vision': unloading...
[CoppeliaSim:loadinfo]   plugin 'Vision': done.
[CoppeliaSim:loadinfo]   plugin 'URDF': unloading...
[CoppeliaSim:loadinfo]   plugin 'URDF': 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 'OMPL': unloading...
[CoppeliaSim:loadinfo]   plugin 'OMPL': 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 '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 'ConvexDecompose': unloading...
[CoppeliaSim:loadinfo]   plugin 'ConvexDecompose': 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.

Re: Can't load in headless mode

Posted: 09 Dec 2021, 15:42
by coppelia
Please show us how you start CoppeliaSim.

Cheers

Re: Can't load in headless mode

Posted: 17 Jan 2022, 03:14
by yifanzhou
Within the main folder, I type this command line in the terminal:
coppeliaSim.exe -h myScene.ttt (Windows)

Re: Can't load in headless mode

Posted: 18 Jan 2022, 13:06
by coppelia
The terminal says that the scene could not be loaded. Can it be loaded when you star CoppeliaSim in the same way, but not in headless mode?

Cheers

Re: Can't load in headless mode

Posted: 19 Jan 2022, 07:14
by yifanzhou
Yes, it works well when I start the CoppeliaSim in the same way, but not in headless mode.

Re: Can't load in headless mode

Posted: 19 Jan 2022, 09:04
by fferri
So the following command works:

coppeliaSim.exe myScene.ttt

but this one not?

coppeliaSim.exe -h myScene.ttt

Re: Can't load in headless mode

Posted: 25 May 2023, 11:07
by wasuradananjith
Hi all,

I am experiencing the same problem that this issue was initially reported. I am using Coppeliasim Edu 4.4.0 in Windows 11. What I did was as follows.

1. Create a new scene in Coppeliasim GUI by adding a Pioneer 3dx robot.
2. Added a print statement (for example, "Running") in its actuation function.
3. Run the simulation by clicking play button. It works fine.
4. Save and close the simulation.
5. Run the below command to start the simulation with UI, and it worked.

Code: Select all

coppeliaSim.exe -h "C:\Users\<path-to-scene>\test.ttt" -s
6. However, when I ran the same above command with -h flag to run in the headless mode, it does not work. I get the following error traces in the Coppeliasim terminal.

Code: Select all

@@
[CoppeliaSimClient]    loading the CoppeliaSim library...
[CoppeliaSimClient]    done.
[CoppeliaSimClient:loadinfo]   launching CoppeliaSim...
[CoppeliaSim:loadinfo]   CoppeliaSim v4.4.0, (rev. 0), flavor: 1, windows
[CoppeliaSim:loadinfo]   user settings file is C:\Users\AppData\Roaming/CoppeliaSim/usrset.txt
[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 'Cam': loading...
[CoppeliaSim:loadinfo]   plugin 'Cam': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'CodeEditor': loading...
[simExtCodeEditor:error]   cannot load in headless mode
[CoppeliaSim:error]   plugin 'CodeEditor': load failed (failed initialization).
[CoppeliaSim:loadinfo]   plugin 'ConvexDecompose': loading...
[CoppeliaSim:loadinfo]   plugin 'ConvexDecompose': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'Eigen': loading...
[CoppeliaSim:loadinfo]   plugin 'Eigen': load succeeded.
[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...
[simExtLuaCmd:error]   cannot find the statusbar widget
[CoppeliaSim:error]   plugin 'LuaCmd': load failed (failed initialization).
[CoppeliaSim:loadinfo]   plugin 'MTB': loading...
[CoppeliaSim:loadinfo]   plugin 'MTB': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'Mujoco': loading...
[CoppeliaSim:loadinfo]   plugin 'Mujoco': 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:loadinfo]   plugin 'OMPL': load succeeded.
[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 'QML': loading...
[simExtQML:error]   doesn't work in headless mode
[CoppeliaSim:error]   plugin 'QML': load failed (failed initialization).
[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 'ROS2': loading...
error: library ( C:/Program Files/CoppeliaRobotics/CoppeliaSimEdu/simExtROS2.dll ) load: "Cannot load library C:\\Program Files\\CoppeliaRobotics\\CoppeliaSimEdu\\simExtROS2.dll: The specified module could not be found."
[CoppeliaSim:error]   plugin 'ROS2': load failed (could not load). The plugin probably couldn't load dependency libraries. Try rebuilding the plugin.
[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 'Ruckig': loading...
[CoppeliaSim:loadinfo]   plugin 'Ruckig': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'SDF': loading...
[CoppeliaSim:loadinfo]   plugin 'SDF': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'Subprocess': loading...
[CoppeliaSim:loadinfo]   plugin 'Subprocess': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'SurfRec': loading...
[CoppeliaSim:loadinfo]   plugin 'SurfRec': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'UI': loading...
[simExtUI:error]   doesn't work in headless mode
[CoppeliaSim:error]   plugin 'UI': load failed (failed initialization).
[CoppeliaSim:loadinfo]   plugin 'URDF': loading...
[CoppeliaSim:loadinfo]   plugin 'URDF': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'URLDrop': loading...
[simExtURLDrop:error]   cannot start in headless mode
[CoppeliaSim:error]   plugin 'URLDrop': load failed (failed initialization).
[CoppeliaSim:loadinfo]   plugin 'Vision': loading...
[CoppeliaSim:loadinfo]   plugin 'Vision': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'WS': loading...
[CoppeliaSim:loadinfo]   plugin 'WS': load succeeded.
[CoppeliaSim:loadinfo]   plugin 'ZMQ': loading...
[CoppeliaSim:loadinfo]   plugin 'ZMQ': load succeeded.
You can see that there are several errors printed in this log.

Much appreciated if anyone knows a solution for this? Or is this fixed in the latest Coppeliasim versions?

Re: Can't load in headless mode

Posted: 26 May 2023, 12:53
by coppelia
When you run in headless mode, then all plugins that need the GUI (e.g. the custom UI plugin (simUI), etc.) won't load, which is normal.

Now, if you rely on such plugins in your simulation, then you might get an error message. It is important that your scripts also check if you are in headless mode, when making usage of such plugins). Use:

Code: Select all

if sim.getBoolParam(sim.boolparam_headless) then
    ..
end
And when in headless mode, you can set the verbosity to infos, so that script errors and similar are printed to the console, e.g.:

Code: Select all

./coppeliaSim -h -s2000 -q -vinfos myScene.ttt
Cheers
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