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Client SDK Python API Reference

This page provides a comprehensive reference for the Aria Client SDK Python API, which enables control and data streaming from Aria devices.

Core Classes​

DeviceClient​

The DeviceClient class manages connections to Aria devices and handles device discovery.

Constructor​

DeviceClient()

Creates a new DeviceClient instance.

Methods​

authenticate()​

Authenticate with the device using credentials.

Returns: Certificate hash pushed to the device (str)

Raises: RuntimeError if authentication fails

connect()​

Establish a connection to an Aria device.

Returns: Device object representing the connected device

Raises: RuntimeError if connection fails

is_connected(device: Device) -> bool​

Check if a device is currently connected.

Parameters:

  • device (Device): The device to check connection status for

Returns: bool - True if connected, False otherwise

usb_network_devices()​

Get a list of devices available via USB network connection.

Returns: List of available USB network devices

Raises: RuntimeError if unable to query devices

active_connections() -> List[Device]​

Get a list of all currently active device connections.

Returns: List of Device objects

disconnect(device: Device) -> None​

Disconnect from a specific device.

Parameters:

  • device (Device): The device to disconnect from
disconnect_all() -> None​

Disconnect from all connected devices.

set_client_config(config: DeviceClientConfig) -> None​

Configure the device client settings.

Parameters:

  • config (DeviceClientConfig): Configuration object for the client

Device​

The Device class represents a connected Aria device and provides methods to control it.

Methods​

connection_id() -> str​

Get the unique connection identifier for this device.

Returns: String connection ID

status()​

Get current device status.

Returns: Device status object

Raises: RuntimeError if unable to retrieve device status

serial()​

Get the device serial number.

Returns: String serial number

Raises: RuntimeError if unable to retrieve serial number

Streaming Methods​

start_streaming()​

Start streaming data from the device.

Returns: None

Raises: RuntimeError if unable to start streaming

stop_streaming()​

Stop streaming data from the device.

Returns: None

Raises: RuntimeError if unable to stop streaming

set_streaming_config(streaming_config: HttpStreamingConfig) -> None​

Configure streaming settings.

Parameters:

  • streaming_config (HttpStreamingConfig): Streaming configuration object
install_streaming_certs()​

Install default streaming certificates on the device.

Returns: None

Raises: RuntimeError if certificate installation fails

install_streaming_certs(streaming_certificates: StreamingCertsPem)​

Install custom streaming certificates on the device.

Parameters:

  • streaming_certificates (StreamingCertsPem): Custom certificates in PEM format

Returns: None

Raises: RuntimeError if certificate installation fails

uninstall_streaming_certs()​

Remove streaming certificates from the device.

Returns: None

Raises: RuntimeError if certificate removal fails

Recording Methods​

set_recording_config(recording_config: RecordingConfig) -> None​

Configure recording settings.

Parameters:

  • recording_config (RecordingConfig): Recording configuration object
start_recording()​

Start recording on the device.

Returns: UUID of the recording (str)

Raises: RuntimeError if unable to start recording

stop_recording()​

Stop the current recording.

Returns: None

Raises: RuntimeError if unable to stop recording

list_recordings()​

Print a list of all recordings on the device.

Returns: None

Raises: RuntimeError if unable to list recordings

recording_info(uuid: str)​

Print detailed information about a specific recording.

Parameters:

  • uuid (str): Recording UUID

Returns: None

Raises: RuntimeError if recording not found or unable to retrieve info

delete_recording(uuid: str)​

Delete a specific recording from the device.

Parameters:

  • uuid (str): Recording UUID to delete

Returns: None

Raises: RuntimeError if unable to delete recording

download_recording(uuid: str, output_path: str = "")​

Download a specific recording from the device.

Parameters:

  • uuid (str): Recording UUID to download
  • output_path (str, optional): Local path to save the recording. Defaults to current directory.

Returns: None

Raises: RuntimeError if download fails

download_all_recordings(output_path: str = "")​

Download all recordings from the device.

Parameters:

  • output_path (str, optional): Local directory to save recordings. Defaults to current directory.

Returns: None

Raises: RuntimeError if download fails

delete_all_recordings()​

Delete all recordings from the device.

Returns: None

Raises: RuntimeError if unable to delete recordings

Text-to-Speech Methods​

render_tts(text: str)​

Render text-to-speech on the device.

Parameters:

  • text (str): Text to convert to speech

Returns: None

Raises: RuntimeError if TTS rendering fails

stop_tts()​

Stop current text-to-speech playback.

Returns: None

Raises: RuntimeError if unable to stop TTS

StreamDataInterface​

The StreamDataInterface class handles receiving and processing streaming data from the device.

Constructor​

StreamDataInterface(enable_image_decoding: bool, enable_raw_stream: bool)

Parameters:

  • enable_image_decoding (bool): Enable automatic image decoding
  • enable_raw_stream (bool): Enable raw stream data access

Methods​

record_to_vrs(vrs_path: str) -> None​

Save streaming data to a VRS file.

Parameters:

  • vrs_path (str): Path where VRS file from received streaming data will be saved
Callback Registration Methods​

The following methods register callbacks for different data types:

register_imu_callback(callback: Callable)​

Register callback for IMU (Inertial Measurement Unit) data.

Parameters:

  • callback (Callable): Function callback(motion_data: projectaria_tools.core.sensor_data.MotionData, sensor_label: str) called for each IMU sample
register_imu_batch_callback(callback: Callable)​

Register callback for batched IMU data.

Parameters:

  • callback (Callable): Function callback(motion_data_batch: List[projectaria_tools.core.sensor_data.MotionData], sensor_label: str) called for IMU batches
register_eye_gaze_callback(callback: Callable)​

Register callback for eye gaze tracking data.

Parameters:

  • callback (Callable): Function callback(eye_gaze_data: projectaria_tools.core.mps.EyeGaze) called for eye gaze samples
register_hand_pose_callback(callback: Callable)​

Register callback for hand pose tracking data.

Parameters:

  • callback (Callable): Function callback(hand_pose_data: projectaria_tools.core.mps.hand_tracking) called for hand pose samples
register_audio_callback(callback: Callable)​

Register callback for audio data.

Parameters:

  • callback (Callable): Function callback(audio_data: projectaria_tools.core.sensor_data.AudioData, audio_record: projectaria_tools.core.sensor_data.AudioDataRecord, num_channels: int) called for audio samples
register_rgb_callback(callback: Callable)​

Register callback for RGB camera data.

Parameters:

  • callback (Callable): Function callback(image_data: projectaria_tools.core.sensor_data.ImageData, image_record: projectaria_tools.core.sensor_data.ImageDataRecord) called for RGB images
register_slam_callback(callback: Callable)​

Register callback for SLAM camera data.

Parameters:

  • callback (Callable): Function callback(image_data: projectaria_tools.core.sensor_data.ImageData, image_record: projectaria_tools.core.sensor_data.ImageDataRecord) called for SLAM images
register_et_callback(callback: Callable)​

Register callback for eye tracking camera data.

Parameters:

  • callback (Callable): Function callback(image_data: projectaria_tools.core.sensor_data.ImageData, image_record: projectaria_tools.core.sensor_data.ImageDataRecord) called for ET images
register_barometer_callback(callback: Callable)​

Register callback for barometer data.

Parameters:

  • callback (Callable): Function callback(barometer_data: projectaria_tools.core.sensor_data.BarometerData) called for barometer samples
register_magnetometer_callback(callback: Callable)​

Register callback for magnetometer data.

Parameters:

  • callback (Callable): Function callback(motion_data: projectaria_tools.core.sensor_data.MotionData, sensor_label: str) called for magnetometer samples
register_vio_callback(callback: Callable)​

Register callback for Visual-Inertial Odometry (VIO) data.

Parameters:

  • callback (Callable): Function callback(frontend_output: projectaria_tools.core.sensor_data.FrontendOutput) called for VIO updates
register_vio_high_frequency_callback(callback: Callable)​

Register callback for high-frequency VIO data.

Parameters:

  • callback (Callable): Function callback(vio_data: projectaria_tools.core.mps.OpenLoopTrajectoryPose) called for high-frequency VIO updates
register_device_calib_callback(callback: Callable)​

Register callback for device calibration updates.

Parameters:

  • callback (Callable): Function callback(device_calibration: projectaria_tools.core.calibration.DeviceCalibration) called when calibration is received
Queue Size Configuration Methods​

The following methods configure queue sizes for different data streams:

set_rgb_queue_size(size: int) -> None​

Set the queue size for RGB image data.

Parameters:

  • size (int): Queue size
set_slam_queue_size(size: int) -> None​

Set the queue size for SLAM image data.

Parameters:

  • size (int): Queue size
set_et_queue_size(size: int) -> None​

Set the queue size for eye tracking image data.

Parameters:

  • size (int): Queue size
set_imu_queue_size(size: int) -> None​

Set the queue size for IMU data.

Parameters:

  • size (int): Queue size
set_imu_batch_queue_size(size: int) -> None​

Set the queue size for batched IMU data.

Parameters:

  • size (int): Queue size
set_vio_high_freq_queue_size(size: int) -> None​

Set the queue size for high-frequency VIO data.

Parameters:

  • size (int): Queue size
set_vio_high_freq_batch_queue_size(size: int) -> None​

Set the queue size for batched high-frequency VIO data.

Parameters:

  • size (int): Queue size
set_eye_gaze_queue_size(size: int) -> None​

Set the queue size for eye gaze data.

Parameters:

  • size (int): Queue size
set_hand_pose_queue_size(size: int) -> None​

Set the queue size for hand pose data.

Parameters:

  • size (int): Queue size
set_vio_queue_size(size: int) -> None​

Set the queue size for VIO data.

Parameters:

  • size (int): Queue size
Queue Size Getter Methods​

The following methods retrieve queue sizes for different data streams:

get_rgb_queue_size() -> int​

Get the queue size for RGB image data.

Returns: Queue size (int)

get_slam_queue_size() -> int​

Get the queue size for SLAM image data.

Returns: Queue size (int)

get_imu_queue_size() -> int​

Get the queue size for IMU data.

Returns: Queue size (int)

get_imu_batch_queue_size() -> int​

Get the queue size for batched IMU data.

Returns: Queue size (int)

get_et_queue_size() -> int​

Get the queue size for eye tracking image data.

Returns: Queue size (int)

get_vio_queue_size() -> int​

Get the queue size for VIO data.

Returns: Queue size (int)

get_vio_high_freq_queue_size() -> int​

Get the queue size for high-frequency VIO data.

Returns: Queue size (int)

get_vio_high_freq_batch_queue_size() -> int​

Get the queue size for batched high-frequency VIO data.

Returns: Queue size (int)

get_eye_gaze_queue_size() -> int​

Get the queue size for eye gaze data.

Returns: Queue size (int)

get_hand_pose_queue_size() -> int​

Get the queue size for hand pose data.

Returns: Queue size (int)

Configuration Classes​

HttpStreamingConfig​

Configuration for HTTP-based streaming.

Attributes:

  • profile_name (str): Name of the streaming profile to use
  • streaming_cert_name (str): Name of the streaming certificate
  • streaming_interface (StreamingInterface): Network interface to use for streaming
  • security_options (StreamingSecurityOptions): Security settings for streaming
  • advanced_config (HttpStreamerConfig): Advanced streaming configuration
  • keep_streaming_on_disconnection (bool): Continue streaming if disconnected

RecordingConfig​

Configuration for on-device recording.

Attributes:

  • profile_name (str): Name of the recording profile to use
  • custom_profile (str): Custom recording profile in JSON format
  • recording_name (str): Name for the recording

StreamingCertsPem​

Streaming certificates in PEM format.

Attributes:

  • root_ca_cert (str): Root CA certificate in PEM format
  • publisher_cert (str): Publisher certificate in PEM format
  • publisher_key (str): Publisher private key in PEM format
  • key_password (str): Password for the private key
  • cert_name (str): Name for this certificate set

HttpStreamerConfig​

Advanced HTTP streamer configuration.

Attributes:

  • endpoint (Endpoint): Streaming endpoint configuration

Endpoint​

HTTP endpoint configuration.

Attributes:

  • url (str): Endpoint URL
  • verify_server_certificates (bool): Whether to verify server certificates
  • auth (SslAuthentication): SSL authentication credentials

HTTP Server Classes​

AriaGen2HttpServer​

HTTP server for receiving streaming data from devices.

Constructor​

AriaGen2HttpServer(config: HttpServerConfig, handler_factory: AriaGen2HandlerFactory)

Parameters:

  • config (HttpServerConfig): Server configuration
  • handler_factory (AriaGen2HandlerFactory): Factory for creating stream handlers

Methods​

stop() -> None​

Stop the HTTP server.

join() -> None​

Wait for the server to finish.

HttpServerConfig​

Configuration for the HTTP server.

Attributes:

  • address (str): Server bind address
  • port (int): Server port
  • use_ssl (bool): Enable SSL/TLS
  • mdns_hostname (str): mDNS hostname for discovery
  • certificate (Certificate): Server SSL certificate
  • ca_root (str): CA root certificate
  • threads (int): Number of server threads
  • idle_timeout_sec (int): Idle timeout in seconds

Certificate​

Server SSL certificate configuration.

Attributes:

  • cert (str): Certificate in PEM format
  • key (str): Private key in PEM format
  • key_password (str): Password for the private key

AriaGen2HandlerFactory​

Factory for creating stream data handlers.

Methods​

create_factory_handler(handler_object: StreamDataInterface) -> AriaGen2HandlerFactory​

Create a handler factory from a StreamDataInterface object.

Parameters:

  • handler_object (StreamDataInterface): Stream data interface instance

Returns: AriaGen2HandlerFactory instance

Enumerations​

StreamingInterface​

Available network interfaces for streaming.

Values:

  • WIFI_STA - WiFi Station mode
  • USB_RNDIS - USB RNDIS (Windows)
  • USB_NCM - USB NCM (Linux/Mac)
  • WIFI_SAP - WiFi Soft Access Point mode

RecordingType​

Types of recordings.

Values:

  • RECORDING_TYPE_PROTOTYPE - Prototype recording

Message Types​

MessageType​

The MessageType class provides constants and utility functions for working with message type identifiers.

Message Type Constants​

Message IDs are organized by category:

Camera Frames (0x8010-0x8012):

  • SLAM_CAMERA_FRAME (0x8010) - SLAM camera image data
  • ET_CAMERA_FRAME (0x8011) - Eye tracking camera image data
  • POV_CAMERA_FRAME (0x8012) - RGB/POV camera image data

Sensor Events (0x8020-0x8028):

  • IMU_EVENT (0x8020) - IMU (accelerometer/gyroscope) data
  • BARO_EVENT (0x8021) - Barometer data
  • MAG_EVENT (0x8022) - Magnetometer data
  • TEMP_EVENT (0x8023) - Temperature sensor data
  • PPG_EVENT (0x8024) - Photoplethysmogram (heart rate) data
  • GNSS_EVENT (0x8025) - GPS/GNSS location data
  • SUBGHZ_EVENT (0x8026) - Sub-GHz radio data
  • ALS_EVENT (0x8027) - Ambient light sensor data
  • GNSS_VISIBLE_SATELLITES_EVENT (0x8028) - Visible GPS satellites

Machine Perception (0x8030-0x8033):

  • MP_ET_RESULT (0x8030) - Eye gaze tracking result
  • MP_HT_RESULT (0x8031) - Hand tracking result
  • MP_VIO_RESULT (0x8032) - Visual-Inertial Odometry result
  • MP_VIO_HIGH_FREQUENCY_POSE (0x8033) - High-frequency VIO pose updates

Data and Utilities (0x8000-0x800A):

  • ERROR (0x8000) - Error message
  • AUDIO_REC_DATA (0x8001) - Audio recording data
  • WIFI_BEACONS (0x8005) - WiFi beacon scan results
  • BLE_BEACONS (0x8006) - Bluetooth beacon scan results
  • PHONE_LOCATION_DATA (0x8007) - Companion phone location
  • BATTERY_STATUS_DATA (0x8008) - Device battery status
  • ASR_DATA (0x8009) - Automatic speech recognition data
  • FACTORY_CALIBRATION (0x800A) - Factory calibration data

Status Messages (0x8100-0x8105):

  • ACRO_INFO (0x8100) - ACRO system information
  • OK (0x8105) - Success/acknowledgment message

Methods​

to_string(message_id: int) -> str​

Convert a message ID to its string name.

Parameters:

  • message_id (int): Numeric message ID (e.g., 0x8010)

Returns: String name of the message type (e.g., "SLAM_CAMERA_FRAME")

Example:

import aria.sdk_gen2 as sdk_gen2

name = sdk_gen2.MessageType.to_string(0x8010)
print(name)  # "SLAM_CAMERA_FRAME"

# Using constant
name = sdk_gen2.MessageType.to_string(sdk_gen2.MessageType.IMU_EVENT)
print(name)  # "IMU_EVENT"
from_string(name: str) -> Optional[int]​

Convert a message type name to its numeric ID.

Parameters:

  • name (str): String name of the message type (e.g., "SLAM_CAMERA_FRAME")

Returns: Numeric message ID (int) if found, None otherwise

Example:

import aria.sdk_gen2 as sdk_gen2

msg_id = sdk_gen2.MessageType.from_string("SLAM_CAMERA_FRAME")
print(hex(msg_id))  # "0x8010"

# Unknown type returns None
unknown = sdk_gen2.MessageType.from_string("INVALID_TYPE")
print(unknown)  # None

SharedMessage​

Low-level message data structure.

Attributes:

  • id (int, read-only): Message ID
  • payload (IBuffer, read-only): Message payload

Methods:

  • size() -> int: Get message size in bytes
  • timestamp() -> int: Get message timestamp in nanoseconds
  • arrival_timestamp_ns() -> int: Get arrival timestamp in nanoseconds (returns -1 if not set)

Constructor:

SharedMessage(id: int, payload: bytes, timestampNs: int = 0)

Parameters:

  • id (int): Message type ID
  • payload (bytes): Message payload data
  • timestampNs (int, optional): Timestamp in nanoseconds. Defaults to 0.

Example:

import aria.sdk_gen2 as sdk_gen2

# Create a message
msg = sdk_gen2.SharedMessage(
    id=sdk_gen2.MessageType.IMU_EVENT,
    payload=b'\x00\x01\x02\x03',
    timestampNs=1234567890
)

print(f"Message ID: {hex(msg.id)}")
print(f"Payload size: {msg.size()}")
print(f"Timestamp: {msg.timestamp()} ns")

IBuffer​

Buffer interface for binary data.

Methods:

  • data() -> bytes: Get buffer data as bytes
  • size() -> int: Get buffer size in bytes
  • as_memoryview() -> Optional[memoryview]: Get buffer as Python memoryview (returns None if buffer is empty or null)

Example:

# Access payload data
if message.payload is not None:
    # Get as memoryview for zero-copy access
    mem_view = message.payload.as_memoryview()
    if mem_view is not None:
        print(f"Payload size: {len(mem_view)} bytes")

Data Converter​

OssDataConverter​

The OssDataConverter class converts raw FlatBuffer messages to typed Python data structures. This is essential for processing sensor data from SharedMessage payloads.

Constructor​

OssDataConverter(enable_image_decoding: bool = True, decoder_class = None)

Parameters:

  • enable_image_decoding (bool, optional): Enable automatic image decoding. Defaults to True.
  • decoder_class (optional): Custom decoder class (not currently supported). Defaults to None.

Example:

import aria.oss_data_converter as data_converter

# Create converter with image decoding enabled
converter = data_converter.OssDataConverter(enable_image_decoding=True)

Configuration Methods​

set_calibration(calibration_json: str) -> None​

Set device calibration from JSON string. Required for converting VIO, eye gaze, and hand tracking data.

Parameters:

  • calibration_json (str): Device calibration in JSON format

Example:

# Set calibration (required for VIO/eye gaze/hand tracking)
converter.set_calibration(calibration_json_string)
set_python_image_decoding(enable: bool) -> None​

Enable or disable Python-based image decoding.

Parameters:

  • enable (bool): True to enable Python decoding, False otherwise
get_python_image_decoding() -> bool​

Get current Python image decoding status.

Returns: bool - True if Python decoding is enabled

Image Conversion Methods​

to_image_data_and_record(shared_message: SharedMessage) -> Tuple[ImageData, ImageDataRecord]​

Convert camera frame message to image data and metadata.

Parameters:

  • shared_message (SharedMessage): Message with image payload

Returns: Tuple of (ImageData, ImageDataRecord) or (None, None) if conversion fails

Supported Message Types:

  • SLAM_CAMERA_FRAME - SLAM camera images
  • ET_CAMERA_FRAME - Eye tracking camera images
  • POV_CAMERA_FRAME - RGB camera images

Example:

if message.id == sdk_gen2.MessageType.SLAM_CAMERA_FRAME:
    image_data, image_record = converter.to_image_data_and_record(message)
    if image_data is not None:
        print(f"Image size: {image_data.get_width()}x{image_data.get_height()}")
        print(f"Timestamp: {image_record.capture_timestamp_ns} ns")
        print(f"Camera ID: {image_record.camera_id}")

Sensor Conversion Methods​

to_imu(shared_message: SharedMessage) -> List[MotionData]​

Convert IMU event message to motion data list.

Parameters:

  • shared_message (SharedMessage): Message with IMU payload

Returns: List of MotionData objects or None if conversion fails

Example:

if message.id == sdk_gen2.MessageType.IMU_EVENT:
    imu_data_list = converter.to_imu(message)
    if imu_data_list:
        for imu_data in imu_data_list:
            print(f"Accel: {imu_data.accel_msec2} m/s²")
            print(f"Gyro: {imu_data.gyro_radsec} rad/s")
to_magnetometer(shared_message: SharedMessage) -> List[MotionData]​

Convert magnetometer event message to motion data list.

Parameters:

  • shared_message (SharedMessage): Message with magnetometer payload

Returns: List of MotionData objects or None if conversion fails

Example:

if message.id == sdk_gen2.MessageType.MAG_EVENT:
    mag_data_list = converter.to_magnetometer(message)
    if mag_data_list:
        mag_data = mag_data_list[0]
        print(f"Magnetic field: {mag_data.mag_tesla} T")
to_barometer(shared_message: SharedMessage) -> BarometerData​

Convert barometer event message to barometer data.

Parameters:

  • shared_message (SharedMessage): Message with barometer payload

Returns: BarometerData object or None if conversion fails

Example:

if message.id == sdk_gen2.MessageType.BARO_EVENT:
    baro_data = converter.to_barometer(message)
    if baro_data:
        print(f"Pressure: {baro_data.pressure} Pa")
        print(f"Temperature: {baro_data.temperature} °C")
to_audio(shared_message: SharedMessage) -> Tuple[AudioData, AudioDataRecord]​

Convert audio message to audio data and record.

Parameters:

  • shared_message (SharedMessage): Message with audio payload

Returns: Tuple of (AudioData, AudioDataRecord) or (None, None) if conversion fails

Example:

if message.id == sdk_gen2.MessageType.AUDIO_REC_DATA:
    audio_data, audio_record = converter.to_audio(message)
    if audio_data:
        print(f"Audio samples: {len(audio_data.data)}")
        print(f"Sample rate: {audio_record.sample_rate} Hz")

Location Conversion Methods​

to_gnss(shared_message: SharedMessage) -> GpsData​

Convert GNSS event message to GPS data.

Parameters:

  • shared_message (SharedMessage): Message with GNSS payload

Returns: GpsData object or None if conversion fails

Example:

if message.id == sdk_gen2.MessageType.GNSS_EVENT:
    gnss_data = converter.to_gnss(message)
    if gnss_data:
        print(f"Location: {gnss_data.latitude}°, {gnss_data.longitude}°")
        print(f"Altitude: {gnss_data.altitude} m")
        print(f"Accuracy: {gnss_data.accuracy} m")
to_phone_location(shared_message: SharedMessage) -> GpsData​

Convert phone location message to GPS data.

Parameters:

  • shared_message (SharedMessage): Message with phone location payload

Returns: GpsData object or None if conversion fails

Example:

if message.id == sdk_gen2.MessageType.PHONE_LOCATION_DATA:
    phone_loc = converter.to_phone_location(message)
    if phone_loc:
        print(f"Phone location: {phone_loc.latitude}°, {phone_loc.longitude}°")

Machine Perception Conversion Methods​

to_eye_gaze(shared_message: SharedMessage) -> EyeGaze​

Convert eye gaze result message to eye gaze data. Requires calibration to be set.

Parameters:

  • shared_message (SharedMessage): Message with eye gaze payload

Returns: EyeGaze object or None if conversion fails

Example:

if message.id == sdk_gen2.MessageType.MP_ET_RESULT:
    eye_gaze = converter.to_eye_gaze(message)
    if eye_gaze:
        print(f"Gaze: yaw={eye_gaze.yaw} rad, pitch={eye_gaze.pitch} rad")
        print(f"Depth: {eye_gaze.depth} m")
to_hand_pose(shared_message: SharedMessage) -> HandTrackingResult​

Convert hand tracking result message to hand pose data. Requires calibration to be set.

Parameters:

  • shared_message (SharedMessage): Message with hand tracking payload

Returns: HandTrackingResult object or None if conversion fails

Example:

if message.id == sdk_gen2.MessageType.MP_HT_RESULT:
    hand_pose = converter.to_hand_pose(message)
    if hand_pose:
        if hand_pose.left_hand:
            print("Left hand detected")
        if hand_pose.right_hand:
            print("Right hand detected")
to_vio_result(shared_message: SharedMessage) -> FrontendOutput​

Convert VIO result message to VIO data. Requires calibration to be set.

Parameters:

  • shared_message (SharedMessage): Message with VIO payload

Returns: FrontendOutput object or None if conversion fails

Example:

if message.id == sdk_gen2.MessageType.MP_VIO_RESULT:
    vio_data = converter.to_vio_result(message)
    if vio_data:
        pose = vio_data.transform_odometry_bodyimu
        print(f"Position: {pose.translation()}")
        print(f"Rotation: {pose.rotation().log()}")
to_vio_high_freq_pose(shared_message: SharedMessage) -> List[OpenLoopTrajectoryPose]​

Convert high-frequency VIO pose message to pose list. Requires calibration to be set.

Parameters:

  • shared_message (SharedMessage): Message with high-frequency VIO payload

Returns: List of OpenLoopTrajectoryPose objects or None if conversion fails

Example:

if message.id == sdk_gen2.MessageType.MP_VIO_HIGH_FREQUENCY_POSE:
    vio_poses = converter.to_vio_high_freq_pose(message)
    if vio_poses:
        for pose in vio_poses:
            translation = pose.transform_odometry_device.translation()
            print(f"Position: {translation}")

Wireless Beacon Conversion Methods​

to_bluetooth_beacon(shared_message: SharedMessage) -> List[BluetoothBeaconData]​

Convert Bluetooth beacon message to beacon data list.

Parameters:

  • shared_message (SharedMessage): Message with Bluetooth beacon payload

Returns: List of BluetoothBeaconData objects or None if conversion fails

Example:

if message.id == sdk_gen2.MessageType.BLE_BEACONS:
    ble_beacons = converter.to_bluetooth_beacon(message)
    if ble_beacons:
        for beacon in ble_beacons:
            print(f"ID: {beacon.unique_id}, RSSI: {beacon.rssi} dBm")
to_wifi_beacon(shared_message: SharedMessage) -> List[WifiBeaconData]​

Convert WiFi beacon message to beacon data list.

Parameters:

  • shared_message (SharedMessage): Message with WiFi beacon payload

Returns: List of WifiBeaconData objects or None if conversion fails

Example:

if message.id == sdk_gen2.MessageType.WIFI_BEACONS:
    wifi_beacons = converter.to_wifi_beacon(message)
    if wifi_beacons:
        for beacon in wifi_beacons:
            print(f"SSID: {beacon.ssid}, RSSI: {beacon.rssi} dBm")

Other Sensor Conversion Methods​

to_ppg(shared_message: SharedMessage) -> PpgData​

Convert PPG (photoplethysmogram) event message to PPG data.

Parameters:

  • shared_message (SharedMessage): Message with PPG payload

Returns: PpgData object or None if conversion fails

Example:

if message.id == sdk_gen2.MessageType.PPG_EVENT:
    ppg_data = converter.to_ppg(message)
    if ppg_data:
        print(f"PPG value: {ppg_data.value}")