Zukkiiiiiiii/Bimanual-so-arm100-control ? reverse-engineered prompt

Build me a Python control app for a pair of so arm100 robotic arms that lets me drive them three ways, with the keyboard, a SpaceMouse, and a Leap Motion controller.

I want one clean workflow where the input is read, then translated through a processing layer for home position, inverse kinematics, forward kinematics, joint and encoder limits, smoothing, and rollback, then sent to the servo output layer. Make it work on Windows or Ubuntu, and keep it easy to run from VS Code.

Please include separate runnable entry points for keyboard control, SpaceMouse control, and Leap Motion control, and make the Leap Motion side connect through MATLAB the way this project expects. For the SpaceMouse and arm motion, handle dead zones, axis mapping, nonblocking input, speed, acceleration, and update timing. If you need to check current docs for the Leap or servo libraries, go ahead and look them up online.