async function userCommand(cmdId)
{
// show hello msg in console
brwAPI.logMessage('Hello from inside the BabaCAD Robotics plugin!');
// get robot arm current configuration / joint ang. [j0,j1,...,j5]
const q0 = await brwAPI.getCurrentJointAngles();
const dist = 200;
// get [x,y,z] and normal [nx,ny,nz] of the robot manipulator
var startPos = await brwAPI.getCurrentWorldPosition();
const normal = await brwAPI.getCurrentNormalVector();
var vel = await brwAPI.getSimulationVelocity();
...
}
BabaCAD Robotics Web v2.2 has been released (08/29/2026). Introducing a new plugin system with a set of .js API functions.
Users now can write custom commands and extend simulator with specific functionalities. There is VS Code extension (search in VS Code marketplace for BabaCAD Robotics extension) which helps user to write plugin code easy, using API methods auto-complete feature. Now, users can also write post processor to send simulation trajectory data (interpolated joint angles array) directly to a real robot arm.
https://www.babacad.com/robotics/web
