# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

import numpy as np
from typing import Any

from isaaclab.devices.retargeter_base import RetargeterBase


class DexRetargeter(RetargeterBase):
    """Retargets OpenXR hand joint data to DEX robot joint commands.

    This class implements the RetargeterBase interface to convert hand tracking data
    into a format suitable for controlling DEX robot hands.
    """

    def __init__(self):
        """Initialize the DEX retargeter."""
        super().__init__()
        # TODO: Add any initialization parameters and state variables needed
        pass

    def retarget(self, joint_data: dict[str, np.ndarray]) -> Any:
        """Convert OpenXR hand joint poses to DEX robot commands.

        Args:
            joint_data: Dictionary mapping OpenXR joint names to their pose data.
                       Each pose is a numpy array of shape (7,) containing
                       [x, y, z, qx, qy, qz, qw] for absolute mode or
                       [x, y, z, roll, pitch, yaw] for relative mode.

        Returns:
            Retargeted data in the format expected by DEX robot control interface.
            TODO: Specify the exact return type and format
        """
        # TODO: Implement the retargeting logic
        raise NotImplementedError("DexRetargeter.retarget() not implemented")
