spacemouse ok

scripts/environments/teleoperation/xr_utils/__init__.py

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+# Copyright (c) 2022-2026, The Mindbot Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""XR teleoperation utilities for PICO 4 Ultra / XRoboToolkit integration.
+
+This package provides coordinate transformation, XR device communication,
+and teleoperation control utilities adapted from XRoboToolkit for use
+with Isaac Lab environments.
+"""
+
+from .geometry import (
+    R_HEADSET_TO_WORLD,
+    apply_delta_pose,
+    is_valid_quaternion,
+    quat_diff_as_angle_axis,
+    quat_diff_as_rotvec_xyzw,
+    quaternion_to_angle_axis,
+    transform_xr_pose,
+)
+from .xr_client import XrClient
+
+__all__ = [
+    "R_HEADSET_TO_WORLD",
+    "apply_delta_pose",
+    "is_valid_quaternion",
+    "quat_diff_as_angle_axis",
+    "quat_diff_as_rotvec_xyzw",
+    "quaternion_to_angle_axis",
+    "transform_xr_pose",
+    "XrClient",
+]