Add RPyC server/client API #529
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hugtalbot
approved these changes
Aug 27, 2025
hugtalbot
approved these changes
Aug 27, 2025
Co-authored-by: Hugo <[email protected]>
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this PR adds Client and Server classes offering a SOFA oriented API using RPyC (https://github.com/tomerfiliba-org/rpyc) to launch scenes in subprocess or remotely in another server while still being able to control it (step the simulaiton, get access to any data, modify any data).
For local use (on same computer), a mechanism of shared memory is provided. It is very simple and allow for very fast launch of scene.
Two examples are provided. One launching a scene that is defined in a file that should be accessible by the server (so somewhere on the server side), and one using a local method.
Some limitations of RPyC make it not 100% transparent, e.g. serialization of list of String doesn't work well with SP3 somehow, adding some constraint on how you can interact with the simulation remotely. But the main point of this: getting arrays of positions and whatsoever is working just fine.