Wow, a special guest star!
Nice of you to take the time and thank you. Of course I looked at your work and the specification for the protocol.
https://stpihkal.docs.buttplug.io/protocols/tcode.html#multi-axis-devices
And tried to interpret the coordinates in global system (+/- 50 mm on X and Y axis, 0-100 mm on Z axis, +/- rotation in radians on XYZ axes) into scripts, to make the values play correctly. There is a little confusion in the names of the scripts - by the way can you advise how to properly convert the rotation motions so that they are correctly received by your devices (meaning SR6).
I still stick to the opinion to use quaternions + vector, in my future multi-axis device.
One reason is the order in which the rotations are applied (which is hard to fix).
The second is the difficulty of calculating intermediate values (spherical linear interpolation).