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[RPyC] Add new exposed methods to SOFA server#570

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hugtalbot merged 2 commits intosofa-framework:masterfrom
bakpaul:26_01_add_init_root_method_for_remote_initialization
Feb 26, 2026
Merged

[RPyC] Add new exposed methods to SOFA server#570
hugtalbot merged 2 commits intosofa-framework:masterfrom
bakpaul:26_01_add_init_root_method_for_remote_initialization

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@bakpaul
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@bakpaul bakpaul commented Jan 28, 2026 •
edited by hugtalbot
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Add a way to remotely initialize the root when building the scene from the client side. I added an example of this too. This example isn't possible without this method.

Also added a way to change the working dir of the remote server

@bakpaul bakpaul changed the title [RPyC] Add a way to init the root remotly [RPyC] Add new exposed methods to SOFA server Jan 28, 2026
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hugtalbot commented Jan 29, 2026

I think it's close to topics that @damienmarchal wanted to work on no ?
I let him review the PR (if you agree Damien)

@bakpaul
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bakpaul commented Feb 19, 2026

@damienmarchal, still waiting for your review

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damienmarchal commented Feb 19, 2026

OMG we are already thursday, thank for the reminder.
After reviewing nothing special to say as the PR is only minor change to the existing example.
As the PR add a new example scene I wonder if we couldn't we factor the scene creation code.

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bakpaul commented Feb 20, 2026

The duplication exists because of pedagogical matters. Each scene showing another case, one where you have a file on the server containing the create scene method, the second one where you have the create scene method and pass it to the server and the third one where you run it yourself on the remote root. For me it is clearer to have the three implementation. But we can discuss it if you really want.

@hugtalbot hugtalbot merged commit 6593f34 into sofa-framework:master Feb 26, 2026
4 checks passed
bakpaul added a commit that referenced this pull request Mar 2, 2026
@bakpaul
Squashed commit of the following:
539badc 
commit 833bd69
Author: Hugo <hugo.talbot@sofa-framework.org>
Date:   Fri Feb 27 00:40:59 2026 +0100

    [doc] Use sphinx-design in order to fix doc generation (#586)

    Co-authored-by: hugtalbot <hugo.talbot@inria.fr>

commit d982bc8
Author: Alex Bilger <alxbilger@users.noreply.github.com>
Date:   Thu Feb 26 23:11:32 2026 +0100

    Remove unappropriate comment (#591)

commit ae7e8e1
Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com>
Date:   Thu Feb 26 18:39:56 2026 +0100

    Ignore the meshing scenes (#587)

commit 6593f34
Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com>
Date:   Thu Feb 26 18:38:58 2026 +0100

    [RPyC] Add new exposed methods to SOFA server (#570)

    * Add a way to init the root remotly

    * Add method to change working dir on remote

commit bdbaece
Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com>
Date:   Thu Feb 26 10:29:37 2026 +0100

    Add python modules that uses the CGAL binding  (#567)

    * Add python modules that uses the CGAL binding instead of the CGALPlugin to generate mesh from a pointcloud or a surfacic polyhedron

    * Add a SOFA scene opening and using the generated mesh with CGAL

    * Sort all files into a meshing repo and add a Gmsh example

    * Make display optionnal

    * Fix typo

    ---------

    Co-authored-by: hugtalbot <hugo.talbot@inria.fr>
    Co-authored-by: Themis Skamagkis <70031729+th-skam@users.noreply.github.com>

commit 617d506
Author: Hugo <hugo.talbot@sofa-framework.org>
Date:   Thu Feb 26 10:29:13 2026 +0100

    [examples] Add a thermo-elastic example (#204)

    * [examples] Add a thermo-elastic example

    * minor comment to remove

    * Get compatible with #198 and add legend

    * Remove option of topo changes

    * Update scene further to recently introduced templates in Mass

    * avoid using strings

    * update scene with imgui, linkpath etc

    ---------

    Co-authored-by: hugtalbot <hugo.talbot@inria.fr>

commit 4fb7e89
Author: leobois67 <leo.bois@inria.fr>
Date:   Wed Feb 25 18:58:24 2026 +0100

    Example of a ForceField implemented with JAX (#557)

    * Add the example

    * Igne jax example on main CI

    * Fix ignoring the jax examples

    * Fix addKToMatrix() with different options

    * Apply suggestions from code review

    ---------

    Co-authored-by: Paul Baksic <paul.baksic@outlook.fr>
    Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>

commit b3a79c6
Author: Hugo <hugo.talbot@sofa-framework.org>
Date:   Wed Feb 25 15:50:54 2026 +0100

    Fix code block indentation for createScene function (#582)

    Updated code block formatting for createScene function.
    This should fix the doc generation

commit fc75967
Author: Alex Bilger <alxbilger@users.noreply.github.com>
Date:   Fri Feb 13 03:42:51 2026 +0100

    fix wrong parameter order in addDForce and addKToMatrix (#579)

    * fix wrong parameter order in addDForce

    * also fix addKToMatrix

commit ca2be7c
Author: Alex Bilger <alxbilger@users.noreply.github.com>
Date:   Fri Feb 13 03:42:37 2026 +0100

    Add bindings for prism and pyramid topology functions (#578)

commit 346d298
Author: Alex Bilger <alxbilger@users.noreply.github.com>
Date:   Fri Feb 13 03:42:20 2026 +0100

    ordering field is deprecated, use NaturalOrderingMethod instead (#577)

commit 959b4cd
Author: Alex Bilger <alxbilger@users.noreply.github.com>
Date:   Fri Feb 13 03:42:02 2026 +0100

    Redirect SOFA logs to Python's sys.stdout using a custom PythonMessageHandler (#576)

    * Redirect SOFA logs to Python's sys.stdout using a custom PythonMessageHandler.

    * cleaning

    * Redirect SOFA logs to Python's sys.stdout using a custom PythonMessageHandler.

commit c0dc30e
Author: Alex Bilger <alxbilger@users.noreply.github.com>
Date:   Thu Feb 12 10:43:05 2026 +0100

    Clean getRecords in Timer module (#561)

    * Clean getRecords in Timer module

    * remove extra /**

commit d2ba475
Author: Alex Bilger <alxbilger@users.noreply.github.com>
Date:   Wed Feb 4 23:59:52 2026 +0100

    include `sofa/core/fwd.h` instead of the forward declaration (#575)

commit c209f3a
Author: Frederick Roy <fredroy@users.noreply.github.com>
Date:   Wed Feb 4 22:50:20 2026 +0900

    fix mixed-up quote/doublequote, plus consistent quoting (#574)

commit 7760402
Author: Hugo <hugo.talbot@sofa-framework.org>
Date:   Tue Feb 3 08:05:33 2026 +0100

    Generalize use of initRoot (#566)

    Co-authored-by: hugtalbot <hugo.talbot@inria.fr>

commit b29cfe5
Author: Damien Marchal <damien.marchal@univ-lille1.fr>
Date:   Thu Jan 29 20:19:43 2026 +0100

    Remove the implementation of getPathName as it is now in BaseData (#556)

    See: sofa-framework/sofa#5759

    Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>

commit c7fb254
Author: Alex Bilger <alxbilger@users.noreply.github.com>
Date:   Thu Jan 29 20:08:22 2026 +0100

    Introduce an example of a custom message handler (#569)

commit f4e90d4
Author: Hugo <hugo.talbot@sofa-framework.org>
Date:   Thu Jan 29 09:00:43 2026 +0100

    Follow lifecycle v26.06 deprecated header (#571)

    Co-authored-by: hugtalbot <hugo.talbot@inria.fr>

commit 8bf0162
Author: Frederick Roy <fredroy@users.noreply.github.com>
Date:   Wed Jan 7 06:48:05 2026 +0900

    remove import of scipy.misc, which is deprecated (#564)

commit 1016b94
Author: Alex Bilger <alxbilger@users.noreply.github.com>
Date:   Thu Dec 18 16:37:52 2025 +0100

    Update advanced_timer.py with comments and fix deprecated data (#562)

commit 29c4e87
Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com>
Date:   Tue Dec 16 12:01:32 2025 +0100

    Add example scene using CCDTightInclusion (#559)

    * Add example scene using CCDTightInclusion

    * Replace ProjectedGaussSeidel with BlockGaussSeidel

    * Fix scene error

commit d38d3c4
Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com>
Date:   Fri Dec 12 11:53:20 2025 +0100

    Apply name changing on code and examples (#560)

commit b09d921
Author: Damien Marchal <damien.marchal@univ-lille1.fr>
Date:   Thu Nov 13 15:28:05 2025 +0100

    Add Quaternion to python factory so we can create data field with this type. (#555)

commit a66c054
Author: Damien Marchal <damien.marchal@univ-lille1.fr>
Date:   Thu Nov 13 15:27:48 2025 +0100

    Improve error message when the SetDataFromArray does not match (#554)

    * Improve error message when the SetDataFromArray does not match

    * Apply suggestions from code review

    ---------

    Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>

commit 746745c
Author: Damien Marchal <damien.marchal@univ-lille1.fr>
Date:   Thu Nov 13 15:27:28 2025 +0100

    Add context manager behavior to Node() (#545)

    This allows to use with statment to have good looking indentation in sofa scene.
    eg:
    with Node("YOLO") as w:
    	w.addObject("YY")

commit af98611
Author: Alex Bilger <alxbilger@users.noreply.github.com>
Date:   Thu Nov 13 15:25:55 2025 +0100

    Support more types of linear systems (#542)

    * Support more types of linear systems

    * add support for BTD

commit ae6b330
Author: Alex Bilger <alxbilger@users.noreply.github.com>
Date:   Thu Nov 13 10:35:28 2025 +0100

    add missing required plugin in test (#558)

commit 6ef05ed
Author: Alex Bilger <alxbilger@users.noreply.github.com>
Date:   Tue Nov 11 14:34:26 2025 +0100

    Fix binding after #5648 (#528)

    Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>

commit 5029c05
Author: Alex Bilger <alxbilger@users.noreply.github.com>
Date:   Thu Nov 6 10:24:24 2025 +0100

    Add validation for numpy array as return type in AddKToMatrix bindings (#541)

    * Add validation for numpy array as return type in AddKToMatrix bindings

    * Refactor AddKToMatrix return type validation and simplify conditional checks

commit 8ba1e2c
Author: Damien Marchal <damien.marchal@univ-lille1.fr>
Date:   Thu Oct 30 16:06:25 2025 +0100

    Register in the PythonFactory Rigid3::Coord (#544)

    Because currently only Rigid3::VecCoord was supported.

commit 72ed0e6
Author: Damien Marchal <damien.marchal@univ-lille1.fr>
Date:   Thu Oct 30 16:06:16 2025 +0100

    Add proper return value to event overriden in python (#543)

    Currently the controllers implemented in python cannot report the the event processing
    system in sofa that there is no need anymore to process the event.

    The PR allows to do. Every onXXXXXX() that implement an event processor can no return a value.
    If it is None or False then processing of event use this to continue the propagation
    If it is True (aka: has been processed/no more further), then the SOFA system will not proposed to other component to process the same event
bakpaul added a commit to bakpaul/SofaPython3 that referenced this pull request Mar 2, 2026
@bakpaul
Squashed commit of the following:
62c76bd 
commit 539badc
Author: bakpaul <paul.baksic@outlook.fr>
Date:   Mon Mar 2 09:10:20 2026 +0100

    Squashed commit of the following:

    commit 833bd69
    Author: Hugo <hugo.talbot@sofa-framework.org>
    Date:   Fri Feb 27 00:40:59 2026 +0100

        [doc] Use sphinx-design in order to fix doc generation (sofa-framework#586)

        Co-authored-by: hugtalbot <hugo.talbot@inria.fr>

    commit d982bc8
    Author: Alex Bilger <alxbilger@users.noreply.github.com>
    Date:   Thu Feb 26 23:11:32 2026 +0100

        Remove unappropriate comment (sofa-framework#591)

    commit ae7e8e1
    Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com>
    Date:   Thu Feb 26 18:39:56 2026 +0100

        Ignore the meshing scenes (sofa-framework#587)

    commit 6593f34
    Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com>
    Date:   Thu Feb 26 18:38:58 2026 +0100

        [RPyC] Add new exposed methods to SOFA server (sofa-framework#570)

        * Add a way to init the root remotly

        * Add method to change working dir on remote

    commit bdbaece
    Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com>
    Date:   Thu Feb 26 10:29:37 2026 +0100

        Add python modules that uses the CGAL binding  (sofa-framework#567)

        * Add python modules that uses the CGAL binding instead of the CGALPlugin to generate mesh from a pointcloud or a surfacic polyhedron

        * Add a SOFA scene opening and using the generated mesh with CGAL

        * Sort all files into a meshing repo and add a Gmsh example

        * Make display optionnal

        * Fix typo

        ---------

        Co-authored-by: hugtalbot <hugo.talbot@inria.fr>
        Co-authored-by: Themis Skamagkis <70031729+th-skam@users.noreply.github.com>

    commit 617d506
    Author: Hugo <hugo.talbot@sofa-framework.org>
    Date:   Thu Feb 26 10:29:13 2026 +0100

        [examples] Add a thermo-elastic example (sofa-framework#204)

        * [examples] Add a thermo-elastic example

        * minor comment to remove

        * Get compatible with sofa-framework#198 and add legend

        * Remove option of topo changes

        * Update scene further to recently introduced templates in Mass

        * avoid using strings

        * update scene with imgui, linkpath etc

        ---------

        Co-authored-by: hugtalbot <hugo.talbot@inria.fr>

    commit 4fb7e89
    Author: leobois67 <leo.bois@inria.fr>
    Date:   Wed Feb 25 18:58:24 2026 +0100

        Example of a ForceField implemented with JAX (sofa-framework#557)

        * Add the example

        * Igne jax example on main CI

        * Fix ignoring the jax examples

        * Fix addKToMatrix() with different options

        * Apply suggestions from code review

        ---------

        Co-authored-by: Paul Baksic <paul.baksic@outlook.fr>
        Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>

    commit b3a79c6
    Author: Hugo <hugo.talbot@sofa-framework.org>
    Date:   Wed Feb 25 15:50:54 2026 +0100

        Fix code block indentation for createScene function (sofa-framework#582)

        Updated code block formatting for createScene function.
        This should fix the doc generation

    commit fc75967
    Author: Alex Bilger <alxbilger@users.noreply.github.com>
    Date:   Fri Feb 13 03:42:51 2026 +0100

        fix wrong parameter order in addDForce and addKToMatrix (sofa-framework#579)

        * fix wrong parameter order in addDForce

        * also fix addKToMatrix

    commit ca2be7c
    Author: Alex Bilger <alxbilger@users.noreply.github.com>
    Date:   Fri Feb 13 03:42:37 2026 +0100

        Add bindings for prism and pyramid topology functions (sofa-framework#578)

    commit 346d298
    Author: Alex Bilger <alxbilger@users.noreply.github.com>
    Date:   Fri Feb 13 03:42:20 2026 +0100

        ordering field is deprecated, use NaturalOrderingMethod instead (sofa-framework#577)

    commit 959b4cd
    Author: Alex Bilger <alxbilger@users.noreply.github.com>
    Date:   Fri Feb 13 03:42:02 2026 +0100

        Redirect SOFA logs to Python's sys.stdout using a custom PythonMessageHandler (sofa-framework#576)

        * Redirect SOFA logs to Python's sys.stdout using a custom PythonMessageHandler.

        * cleaning

        * Redirect SOFA logs to Python's sys.stdout using a custom PythonMessageHandler.

    commit c0dc30e
    Author: Alex Bilger <alxbilger@users.noreply.github.com>
    Date:   Thu Feb 12 10:43:05 2026 +0100

        Clean getRecords in Timer module (sofa-framework#561)

        * Clean getRecords in Timer module

        * remove extra /**

    commit d2ba475
    Author: Alex Bilger <alxbilger@users.noreply.github.com>
    Date:   Wed Feb 4 23:59:52 2026 +0100

        include `sofa/core/fwd.h` instead of the forward declaration (sofa-framework#575)

    commit c209f3a
    Author: Frederick Roy <fredroy@users.noreply.github.com>
    Date:   Wed Feb 4 22:50:20 2026 +0900

        fix mixed-up quote/doublequote, plus consistent quoting (sofa-framework#574)

    commit 7760402
    Author: Hugo <hugo.talbot@sofa-framework.org>
    Date:   Tue Feb 3 08:05:33 2026 +0100

        Generalize use of initRoot (sofa-framework#566)

        Co-authored-by: hugtalbot <hugo.talbot@inria.fr>

    commit b29cfe5
    Author: Damien Marchal <damien.marchal@univ-lille1.fr>
    Date:   Thu Jan 29 20:19:43 2026 +0100

        Remove the implementation of getPathName as it is now in BaseData (sofa-framework#556)

        See: sofa-framework/sofa#5759

        Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>

    commit c7fb254
    Author: Alex Bilger <alxbilger@users.noreply.github.com>
    Date:   Thu Jan 29 20:08:22 2026 +0100

        Introduce an example of a custom message handler (sofa-framework#569)

    commit f4e90d4
    Author: Hugo <hugo.talbot@sofa-framework.org>
    Date:   Thu Jan 29 09:00:43 2026 +0100

        Follow lifecycle v26.06 deprecated header (sofa-framework#571)

        Co-authored-by: hugtalbot <hugo.talbot@inria.fr>

    commit 8bf0162
    Author: Frederick Roy <fredroy@users.noreply.github.com>
    Date:   Wed Jan 7 06:48:05 2026 +0900

        remove import of scipy.misc, which is deprecated (sofa-framework#564)

    commit 1016b94
    Author: Alex Bilger <alxbilger@users.noreply.github.com>
    Date:   Thu Dec 18 16:37:52 2025 +0100

        Update advanced_timer.py with comments and fix deprecated data (sofa-framework#562)

    commit 29c4e87
    Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com>
    Date:   Tue Dec 16 12:01:32 2025 +0100

        Add example scene using CCDTightInclusion (sofa-framework#559)

        * Add example scene using CCDTightInclusion

        * Replace ProjectedGaussSeidel with BlockGaussSeidel

        * Fix scene error

    commit d38d3c4
    Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com>
    Date:   Fri Dec 12 11:53:20 2025 +0100

        Apply name changing on code and examples (sofa-framework#560)

    commit b09d921
    Author: Damien Marchal <damien.marchal@univ-lille1.fr>
    Date:   Thu Nov 13 15:28:05 2025 +0100

        Add Quaternion to python factory so we can create data field with this type. (sofa-framework#555)

    commit a66c054
    Author: Damien Marchal <damien.marchal@univ-lille1.fr>
    Date:   Thu Nov 13 15:27:48 2025 +0100

        Improve error message when the SetDataFromArray does not match (sofa-framework#554)

        * Improve error message when the SetDataFromArray does not match

        * Apply suggestions from code review

        ---------

        Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>

    commit 746745c
    Author: Damien Marchal <damien.marchal@univ-lille1.fr>
    Date:   Thu Nov 13 15:27:28 2025 +0100

        Add context manager behavior to Node() (sofa-framework#545)

        This allows to use with statment to have good looking indentation in sofa scene.
        eg:
        with Node("YOLO") as w:
        	w.addObject("YY")

    commit af98611
    Author: Alex Bilger <alxbilger@users.noreply.github.com>
    Date:   Thu Nov 13 15:25:55 2025 +0100

        Support more types of linear systems (sofa-framework#542)

        * Support more types of linear systems

        * add support for BTD

    commit ae6b330
    Author: Alex Bilger <alxbilger@users.noreply.github.com>
    Date:   Thu Nov 13 10:35:28 2025 +0100

        add missing required plugin in test (sofa-framework#558)

    commit 6ef05ed
    Author: Alex Bilger <alxbilger@users.noreply.github.com>
    Date:   Tue Nov 11 14:34:26 2025 +0100

        Fix binding after #5648 (sofa-framework#528)

        Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>

    commit 5029c05
    Author: Alex Bilger <alxbilger@users.noreply.github.com>
    Date:   Thu Nov 6 10:24:24 2025 +0100

        Add validation for numpy array as return type in AddKToMatrix bindings (sofa-framework#541)

        * Add validation for numpy array as return type in AddKToMatrix bindings

        * Refactor AddKToMatrix return type validation and simplify conditional checks

    commit 8ba1e2c
    Author: Damien Marchal <damien.marchal@univ-lille1.fr>
    Date:   Thu Oct 30 16:06:25 2025 +0100

        Register in the PythonFactory Rigid3::Coord (sofa-framework#544)

        Because currently only Rigid3::VecCoord was supported.

    commit 72ed0e6
    Author: Damien Marchal <damien.marchal@univ-lille1.fr>
    Date:   Thu Oct 30 16:06:16 2025 +0100

        Add proper return value to event overriden in python (sofa-framework#543)

        Currently the controllers implemented in python cannot report the the event processing
        system in sofa that there is no need anymore to process the event.

        The PR allows to do. Every onXXXXXX() that implement an event processor can no return a value.
        If it is None or False then processing of event use this to continue the propagation
        If it is True (aka: has been processed/no more further), then the SOFA system will not proposed to other component to process the same event
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