CoppeliaSim PID Color-Tracking Python Code

I have already prepared the full CoppeliaSim scene (.ttt) with the mobile platform, vision sensor and the coloured paths laid out. What I still need is the Python side: a clean, well-commented script that connects through the CoppeliaSim remote API, reads the vision stream, identifies the target colours and drives the robot along each line using a PID controller.

Primary task
The robot’s job is straightforward line following. Because the scene contains several coloured tracks, it must be able to hop from one to another whenever the target colour changes, staying centred on whichever line it is tracking.

Colours to detect
• red
• green