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From Odwiki

Starting with Houdini 9, python is embedded with a Houdini Object Model HOM. So to use python with Houdini, no special work is necessary. One can just open a python shell.

It also comes with an XML-RPC server if you wish to control Houdini from an external python application. To use it you need to start up the XML-RPC server within Houdini (like in a python shell):

import houxmlrpc
houxmlrpc.run(port=8888) 

Then connect to it with your external python application:

import houxmlrpc
s = houxmlrpc.ServerProxy('http://localhost:8888')

Then you can access the nodes in Houdini via proxy objects in your external application:

root = s.hou.root()
for c in root.children():
   print c.path()