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Normally using Vice shouldn't be a problem. Open the VIC 20 emulator executable (xvic.exe on Windows) and drop the cavecommand.prg or cavecommand.d64 onto it window. Alternatively you could select File->Smart attach disk image in the Vice menu. Then select the cavecommand.d64 and open it with "Autostart". Prerequisite for running the VIC 20 is that the VIC 20 ROM files are available: https://vice-emu.sourceforge.io/vice_4.html#SEC26
For Installing Vice on Ubuntu and retrieving the ROMs check out the following post: https://jolyonbrown.com/post/vice-on-ubuntu/, Instead of coying the ROMs for C64 only, just go to expanded tar dir /vice-3.3/data and copy all the stuff there to /usr/lib/vice: sudo cp -r * /usr/lib/vice