I am running Coppeliasim in headless mode from a container
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stdbuf -o0 -e0 xvfb-run --auto-servernum -s "-screen 0 640x480x24" /home/s3675319/Xu/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/./coppeliaSim.sh -h /home/s3675319/grasp2grasp/Grasp2GraspUR5/simulation/armUp.ttt
When I run my python code on ubuntu20.04, not in headless mode I am able to connect without any problems. However, using the container and the command above does not work. It does not go beyond the below line of codes
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client = RemoteAPIClient()
self.sim = client.getObject('sim')
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[CoppeliaSimClient] loading the CoppeliaSim library...
[CoppeliaSimClient] done.
[CoppeliaSimClient:loadinfo] launching CoppeliaSim...
[CoppeliaSim:loadinfo] CoppeliaSim V4.3.0., (rev. 3), flavor: 1
[CoppeliaSim:loadinfo] Legacy machine ID: 5000-15FB-FFC4-9C8E-F7E3-970D
[CoppeliaSim:loadinfo] Machine ID: C99E-7365-766A-0000-8112-0101
[CoppeliaSim:loadinfo] simulator launched.
[CoppeliaSim:loadinfo] plugin 'Assimp': loading...
[CoppeliaSim:loadinfo] plugin 'Assimp': load succeeded.
[CoppeliaSim:loadinfo] plugin 'B0': loading...
[CoppeliaSim:error] plugin 'B0': 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 out$
[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 '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 'Geom': loading...
[CoppeliaSim:loadinfo] plugin 'Geom': load succeeded.
[CoppeliaSim:loadinfo] plugin 'ICP': loading...
[CoppeliaSim:loadinfo] plugin 'ICP': load succeeded.
[CoppeliaSim:loadinfo] plugin 'IGL': loading...
[CoppeliaSim:loadinfo] plugin 'IGL': 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 '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 'ROS': loading...
[CoppeliaSim:error] plugin 'ROS': 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 ou$
[CoppeliaSim:loadinfo] plugin 'ROS2': loading...
[CoppeliaSim:error] plugin 'ROS2': 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 o$
[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 '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).
[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:error] plugin 'ZMQ': 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 ou$
[CoppeliaSim:loadinfo] using the 'Geometric' plugin.
[CoppeliaSim:loadinfo] using the 'IK' plugin.
[ZMQ remote API server@addOnScript:error] zmqRemoteApi: the ZMQ plugin is not available
[CoppeliaSim:loadinfo] checking for an updated CoppeliaSim version...
[CoppeliaSim:loadinfo] This CoppeliaSim version is up-to-date.
[CoppeliaSim:loadinfo] OpenGL: Mesa/X.org, Renderer: llvmpipe (LLVM 12.0.0, 256 bits), Version: 3.1 Mesa 21.2.6