This code enables you to use micropython on a pico with the Adafruit BNO055 absolute orientation sensor
It sounds like circuitpython might be the more mainstream approach...
Adafruit guide for interfacing BNO055 using circuitpython: https://learn.adafruit.com/adafruit-bno055-absolute-orientation-sensor/python-circuitpython
Pico / circuitpython getting started resources here: https://circuitpython.org/board/raspberry_pi_pico/