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Kamailio itself should be able to deal with binary data in the payload/body when routing the packets, here is the kemi interface that is push the value as string to the embedded interpreters, Python3 in this specific case.
Maybe kemi can be extended to return binary blobs to interpreters, but that could require some development effort.
Meanwhile, I would suggest to do hexa or base64 encoding to push the body as a string to Python3 and decode it in Python3 script afterwards, like:
base64.b64decode( KSR.pv.get("$(msg(body){s.encode.base64})") )
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