Python glue code to be ran as LinuxCNC HAL

I'm looking to connect the EMCMOT components to CopelliaSim through an API provided by CoppelliaSim which allows the remote control of the robots built in this SW robotic environment. As shown in the snapshot of the attached article. Unfortunately, the article doesn’t give details. I expect that it is possible to make a python  HAL to build structures or variables from the signals and pins in python so that it can be sent to the CoppeliaSim via the API.Is there any hint that someone can suggest? With many thanks in advance.

 

Thanks andypugh for the prompt answer and the link. In fact, I've already established the communication using socket in ZeroMQ library between the LinuxCNC machine (A RPi 4) and the Server machine (a laptop) where the CoppeliaSim is running with the ZeroMQ server. This is done using a Python on the LinuxCNC side. Maybe they created their own structures from existing HAL pins and components. I can conclude that I need to build a component in Python HAL to take the position pins (for example from the EMCMOTS) and concatinate them in a structure to be sent through the ZeroMQ to the CoppeliaSim from the Python component code.