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