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d/wmr: Add Samsung Odyssey Motion Controller aim & grip pose offsets

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hare_ware authored and Jan Schmidt committed 2026-03-25 17:50:34 +11:00
1 parent 15ad2815c5
commit 0345373ae5
1 file changed
+10 -8
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src/xrt/drivers/wmr/wmr_controller_og.c
+10 -8
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@@ -183,15 +183,17 @@ static const struct xrt_pose P_OG_left_aim = {.orientation = {.x = 0.0, .y = 0.1
static const struct xrt_pose P_OG_right_aim = {.orientation = {.x = 0.0, .y = -0.108867, .z = -0.000000, .w = 0.994056},
.position = {.x = 0.014322, .y = 0.018838, .z = 0.0}};
static const struct xrt_pose P_odyssey_left_aim_grip = {
.orientation = {.x = 0.270273, .y = 0.131820, .z = -0.000006, .w = 0.953719},
.position = {.x = 0.032802, .y = -0.067479, .z = -0.051951}};
.orientation = {.x = 0.300706, .y = 0.0, .z = -0.000000, .w = 0.953717},
.position = {.x = 0.0, .y = -0.079738, .z = -0.035449}};
static const struct xrt_pose P_odyssey_right_aim_grip = {
.orientation = {.x = 0.270273, .y = -0.131820, .z = 0.000006, .w = 0.953719},
.position = {.x = -0.032802, .y = -0.067479, .z = -0.051951}};
static const struct xrt_pose P_odyssey_left_aim = {.orientation = {.x = 0.0, .y = 0.0, .z = 0.0, .w = 1.0},
.position = {.x = 0.0, .y = 0.0, .z = 0.0}};
static const struct xrt_pose P_odyssey_right_aim = {.orientation = {.x = 0.0, .y = 0.0, .z = 0.0, .w = 1.0},
.position = {.x = 0.0, .y = 0.0, .z = 0.0}};
.orientation = {.x = 0.300706, .y = 0.0, .z = -0.000000, .w = 0.953717},
.position = {.x = 0.0, .y = -0.079738, .z = -0.035449}};
static const struct xrt_pose P_odyssey_left_aim = {
.orientation = {.x = -0.076448, .y = -0.017649, .z = 0.224258, .w = 0.971366},
.position = {.x = -0.020508, .y = 0.018774, .z = 0.0}};
static const struct xrt_pose P_odyssey_right_aim = {
.orientation = {.x = -0.076448, .y = 0.017649, .z = -0.224258, .w = 0.971366},
.position = {.x = 0.020508, .y = 0.018774, .z = 0.0}};
/* OG WMR Controller inputs struct */
struct wmr_controller_og_input