Communicate with ros through XML-RPC

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@Geoff, thank you for the reply, The hand houses an embedded computer that runs Ubuntu Linux 16.04 (this is what i mean by NVIDIA) but without ROS installed on it. So if i clearly understood : i already created the XML-RPC server on the hand, and now i need to create XMLRPC client on ROS ? - this XMLRPC client need to communicate with the server to receive the target pose from the hand . -copy and send the pose to move-group - i get the pose from the server which means i will use the first method you mentioned Yes i am pretty new in ROS, if there's an example close to what i am trying to do will be helpful as well

This is the XMLRPC serveur on the hand

class RequestHandler(SimpleXMLRPCRequestHandler):
    rpc_paths = ('/RPC2')

    def do_OPTIONS(self):
        self.send_response(200)
        self.end_headers()

. . .

def listToPose(l):
  assert type(l) is list
  return {'x' : l[0], 'y' : l[1], 'z' : l[2], 'rx' : l[3], 'ry' : l[4], 'rz' : l[5]}

def get_object_defs():
        print("Object definitions requested")
        return "M3 Screw%Banana%Ratstail%Apple%Newby%No_underscore%Complex screw, 110#3%Not so nice long string%And one last one"


def get_object_pose(object):
        pose = [0.563, -0.114, 0.22, 2.20, 2.223,0]
        return listToPose(pose)
print("Starting XML-RPC server on port 8101")
server = SimpleXMLRPCServer(("", 8101),requestHandler=RequestHandler)
server.register_introspection_functions()

. .

server.register_function(get_object_pose)
server.serve_forever()

A link to complete code that we can run is better than separate chunks from a file. Use a Gist if you have to.