rpcspec.json

[
    {
        "method": "onObject",
        "params": { 
            "object": "Object",
            "surface": "Object"
        },
        "returns" : true
    },
    {
    	"method": "getSimtime",
        "params": null,
        "returns" : 1.23
    },
    {
    	"method": "getPosition",
        "params": {
        	"object": "Object"
        },
        "returns" : [1.23, 1.23, 1.23]
    },
    {
    	"method": "monitorLinkEvents",
        "params": {
        	"modelName": "modelName",
        	"jointName": "jointName",
        	"linkName": "linkName"
        },
        "returns" : true
    },
    {
    	"method": "getLinkEventHistory",
        "params": {
        	"modelName": "modelName",
        	"jointName": "jointName",
        	"linkName": "linkName"
        },
        "returns" : [[1.23, true, "Name"]]
    },
    {
        "notification": "resetWorld",
        "params": null
    },
    {
    	"method": "loadWorld",
    	"params": {
    		"world" : "Worldname"
    	},
        "returns" : true
    }
    	
]