# Copyright (c) 2022-2026, The Mindbot Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""XR teleoperation utilities for PICO 4 Ultra / XRoboToolkit integration.

This package provides coordinate transformation, XR device communication,
and teleoperation control utilities adapted from XRoboToolkit for use
with Isaac Lab environments.
"""

from .geometry import (
    R_HEADSET_TO_WORLD,
    apply_delta_pose,
    is_valid_quaternion,
    quat_diff_as_angle_axis,
    quat_diff_as_rotvec_xyzw,
    quaternion_to_angle_axis,
    transform_xr_pose,
)
from .xr_client import XrClient

__all__ = [
    "R_HEADSET_TO_WORLD",
    "apply_delta_pose",
    "is_valid_quaternion",
    "quat_diff_as_angle_axis",
    "quat_diff_as_rotvec_xyzw",
    "quaternion_to_angle_axis",
    "transform_xr_pose",
    "XrClient",
]
