GR00T-WholeBodyControl/external_dependencies/XRoboToolkit-PC-Service-Pybind_X86_and_ARM64/examples/example.py

# 1. Get Controller and Headset Poses

import xrobotoolkit_sdk as xrt

xrt.init()

left_pose = xrt.get_left_controller_pose()
right_pose = xrt.get_right_controller_pose()
headset_pose = xrt.get_headset_pose()

print(f"Left Controller Pose: {left_pose}")
print(f"Right Controller Pose: {right_pose}")
print(f"Headset Pose: {headset_pose}")


# 2. Get Controller Inputs (Triggers, Grips, Buttons, Axes)**



# Triggers and Grips
left_trigger = xrt.get_left_trigger()
right_grip = xrt.get_right_grip()
print(f"Left Trigger: {left_trigger}, Right Grip: {right_grip}")

# Buttons
a_button_pressed = xrt.get_A_button()
x_button_pressed = xrt.get_X_button()
print(f"A Button Pressed: {a_button_pressed}, X Button Pressed: {x_button_pressed}")

# Axes
left_axis = xrt.get_left_axis()
right_axis_click = xrt.get_right_axis_click()
print(f"Left Axis: {left_axis}, Right Axis Clicked: {right_axis_click}")

# Timestamp
timestamp = xrt.get_time_stamp_ns()
print(f"Current Timestamp (ns): {timestamp}")


# 3. Get hand tracking state

# Left Hand State
left_hand_tracking_state = xrt.get_left_hand_tracking_state()
print(f"Left Hand State: {left_hand_tracking_state}")
# Right Hand State
right_hand_tracking_state = xrt.get_right_hand_tracking_state()
print(f"Right Hand State: {right_hand_tracking_state}")