Connection between PC Server and Robotis in KUKA.Sim

Hello, I am a newcomer to KUKA.Sim. Recently, I want to connect my PC as a server to the KUKA Robot in my company. However, to test my code, I prefer to realize this goal in simulator first. As a result, I want to know whether there are ways to connect my PC to Robots in KUKA.Sim through Tcp or ethernet communication. I will use Qt6 to generate a QTcpsocket, and hope to receive the position data of simulation robot in a xml file.