zendo-sdk (Python)

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Python client for the Zendo motion-tracking WebSocket stream. Connect to a running Zendo instance and get typed quaternion and landmark events — no byte-parsing, no port hunting.

The package is a thin layer over the Rust zendo-sdk crate (via PyO3), so decoding and the connection lifecycle are handled in Rust. It imports as zendo.

Install

pip install zendo-sdk

Wheels are published for Linux (x86_64, aarch64), macOS (Apple Silicon and Intel), and Windows (x86_64), on CPython 3.10 and newer.

Quickstart

The client is synchronous and blocking: iterating it waits for the next frame. This keeps it ergonomic in notebooks and scripts.

import zendo

with zendo.connect() as client:          # auto-discovers the port (5432-5435)
    print(f"connected on port {client.port}")
    for event in client:
        match event:
            case zendo.BodyQuaternions(frame):
                print("hips:", frame.hips.w, frame.hips.x, frame.hips.y, frame.hips.z)
            case zendo.BodyLandmarks(frame):
                print("nose:", frame.nose.x, frame.nose.y, frame.nose.z)
            case zendo.HandQuaternions(side, frame):
                print(side, "wrist:", frame.wrist.w)
            case zendo.HandLandmarks(side, frame):
                print(side, "thumb tip:", frame.thumb_tip.x, frame.thumb_tip.confidence)
            case zendo.BodyIsbAngles(frame):
                print("right elbow flexion:", frame.right_elbow_flexion)

Without structural pattern matching:

import zendo

with zendo.connect() as client:
    for event in client:
        if isinstance(event, zendo.BodyQuaternions):
            print(event.frame.hips)

Connecting

Function Behaviour
zendo.connect() Scans ports 5432-5435 on 127.0.0.1, connects to the first Zendo found.
zendo.connect_at(port) Connects to an explicit port on 127.0.0.1.
zendo.connect_url(url) Connects to an explicit ws://host:port URL.

To reach a Zendo on another machine, copy the address from Zendo's Settings: zendo.connect_url("ws://192.168.1.42:5432"). The stream is plain ws:// — unencrypted and unauthenticated — so only use it on a trusted network.

All three accept reconnect=True to transparently re-establish a dropped connection with exponential backoff:

client = zendo.connect(reconnect=True, base_delay_ms=250, max_retries=10)

Types

Events are immutable dataclasses. Frames expose one attribute per joint or landmark — frame.hips, frame.left_wrist, frame.thumb_tip — each a Quaternion (w, x, y, z) or Landmark (x, y, z, confidence). Frames are also iterable: for name, value in frame: ....

BodyIsbAnglesFrame instead exposes 21 scalar float attributes (in radians) — frame.neck_flexion, frame.right_elbow_flexion, etc. The shoulder plane_of_elevation fields are float('nan') when the shoulder is near neutral (gimbal singularity).

The package ships type information (py.typed) and is checked with ty and linted with ruff.

Offline decoding

zendo.decode_frame(data: bytes) decodes a single raw protocol frame into a typed event — handy for replaying captures or testing.

License

Licensed under either of Apache-2.0 or MIT at your option.

Project links

Data verified by PyPI on Jul 14, 2026
Data provided by the project maintainers, verified at the time the release was uploaded to PyPI.

Key dates

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  • Released:
Newer release available (0.4.3)

1 maintainer

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Avatar for michele-akina from gravatar.com michele-akina

Credits

Author: Akina

GitHub Statistics

Data verified by PyPI on Jul 14, 2026
The GitHub source repository was provided by the project maintainers and verified by PyPI at the time of upload. Stars, forks, and open issues/PRs are derived from that repository and have not been independently verified.

License expression

Apache-2.0 OR MIT
View SPDX License List

Requires

Python >=3.10

Provides Extra

dev

Tags

zendo motion-capture pose websocket robotics

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