WebSocket Remote API for CoppeliaSim

The WebSocket Remote API requires the WS plugin.

Table of contents

• Compiling
• Protocol
  • Request
  • Response

Compiling

1. Install required packages for simStubsGen: see simStubsGen's README
2. Checkout, compile and install into CoppeliaSim:

   $ git clone https://github.com/CoppeliaRobotics/wsRemoteApi
   $ cd wsRemoteApi
   $ git checkout coppeliasim-v4.5.0-rev0
   $ mkdir -p build && cd build
   $ cmake -DCMAKE_BUILD_TYPE=Release ..
   $ cmake --build .
   $ cmake --install .

NOTE: replace coppeliasim-v4.5.0-rev0 with the actual CoppeliaSim version you have.

Protocol

Connect WebSocket to the endpoint (by default on port 23050), send a message (see request below), and read the response (see response below). The request and response can be serialized to JSON or CBOR. The response will be serialized using the same serialization format used in the request.

See also the example client example.html.

Request

A request is an object with fields:

• func (string) the function name to call;
• args (array) the arguments to the function;
• (optional) id (string) an identifier to correlate request with response.

Example:

{
    "func": "sim.getObject",
    "args": ["/Floor"]
}

Response

A response is an object with fields:

• (optional) id (string) set to the same value of the request's id field;
• success (boolean) true if the call succeeded, in which case the ret field will be set, or false if the call failed, in which case the error field will be set;
• ret (array) the return values of the function;
• error (string) the error message.

Example:

{
    "success": true,
    "ret": [37]
}

In case of error, the exception message will be present:

{
    "success": false,
    "error": "Object does not exist. (in function 'sim.getObject')"
}