Coordinating alignment of coordinate systems used for a computer generated reality device and a haptic device

A second electronic device for measuring a position of a first electronic device relative to the second electronic device, the second electronic device comprising:

• a sensor configured to output sensor data that can indicate a position of the first electronic device;
• a network interface circuit configured to communicate with the first electronic device;
• a processor connected to the sensor and the network interface circuit;
• and
• a memory storing program code that is executed by the processor to perform operations comprising:
• receiving a request to send a measurement by the second electronic device of a position of the first electronic device;
• responsive to the request, initiating operations for generating a measurement of the position of the first electronic device;
• storing in the memory sensor data output by the sensor that can indicate the position of the first electronic device;
• transmitting an acknowledgement indicating that the sensor data has been stored;
• generating a measurement of the position of the first electronic device based on the sensor data stored in the memory;
• and
• transmitting the measurement of the position of the first electronic device.

A server comprising:

• a network interface circuit configured to communicate with a first electronic device and a second electronic device;
• a processor connected to the network interface circuit;
• and
• a memory storing program code that is executed by the processor to perform operations comprising:
• receiving, from the first electronic device, a measurement by the first electronic device of the position of the first electronic device;
• receiving from a second electronic device a measurement by the second electronic device of a position of the first electronic device;
• and
• generating a transformation matrix for transforming a pose referenced in a first coordinate system to a pose referenced in a second coordinate system responsive to the position of the first electronic device received from the first electronic device and the position received from the second electronic device, wherein one of the first and second coordinate systems is used to reference a pose of one of the first and second electronic devices and the other one of the first and second coordinate systems is used to reference a pose of the other one of the first and second electronic devices.