[Pharo-project] FFI & Python

Hi all! I'm currently working in a project related with ROS (robot operative system), which already have a library to develop in C++ and other to do the same at Python. So, there a lot of variables to contrast to make a choice (performance, code-easy-to-prototype, flexibility, and a lot more), but the main variable is the accessibility from Pharo, then the question is, is there any project that use python from pharo? Or, if i select python i should write a library in C that bootstrap python and give access to pharo via FFI? I looked in the list's mails and in google without any success. Thanks in advance! Santiago.