diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
new file mode 100644
index 0000000..18d6149
--- /dev/null
+++ b/.github/workflows/wheels.yml
@@ -0,0 +1,50 @@
+name: Wheels
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    tags: ["v*"]
+
+jobs:
+  build_sdist:
+    name: Build sdist
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: astral-sh/setup-uv@v5
+      - run: uv build --sdist
+      - uses: actions/upload-artifact@v4
+        with:
+          name: sdist
+          path: dist/*.tar.gz
+
+  build_wheels:
+    name: Wheels on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, ubuntu-24.04-arm, windows-latest]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: pypa/cibuildwheel@v3.2
+      - uses: actions/upload-artifact@v4
+        with:
+          name: wheels-${{ matrix.os }}
+          path: wheelhouse/*.whl
+
+  publish:
+    name: Publish to PyPI
+    needs: [build_sdist, build_wheels]
+    if: github.event_name == 'push' && startsWith(github.ref, 'refs/tags/v')
+    runs-on: ubuntu-latest
+    environment: pypi
+    permissions:
+      id-token: write
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          path: dist
+          merge-multiple: true
+      - uses: pypa/gh-action-pypi-publish@release/v1
diff --git a/.gitignore b/.gitignore
index b0069c9..c2eead5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -201,9 +201,9 @@ Thumbs.db
 *.egg-info/
 .vscode/
 
-include/
-lib/
-
 tmp/
 
-*.pkl
\ No newline at end of file
+*.pkl
+
+# Vendored prebuilt SDK binaries are intentionally tracked
+!vendor/**
\ No newline at end of file
diff --git a/.python-version b/.python-version
new file mode 100644
index 0000000..24ee5b1
--- /dev/null
+++ b/.python-version
@@ -0,0 +1 @@
+3.13
diff --git a/CLAUDE.md b/CLAUDE.md
index 6cedca5..9630c73 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -23,41 +23,27 @@ Key components:
 
 ## Build Commands
 
-### Ubuntu/Linux Setup and Build
-```bash
-# Full setup (downloads dependencies and builds)
-bash setup_ubuntu.sh
-
-# Manual build after setup
-python setup.py install
-
-# Clean build artifacts
-python setup.py clean
-```
+The project is uv-first and uses scikit-build-core as its build backend.
+Prebuilt PXREARobotSDK binaries are vendored in `vendor/` (Linux x86_64,
+Linux aarch64, Windows amd64), so no SDK download or build step is needed.
+Building the extension is only possible on Linux and Windows; macOS is
+unsupported (no vendor binaries exist).
 
-### Windows Setup and Build
-```batch
-# Full setup (downloads dependencies and builds)
-setup_windows.bat
-
-# Manual build after setup
-python setup.py install
-```
-
-### Development Commands
 ```bash
-# Uninstall existing package
-pip uninstall -y xrobotoolkit_sdk
+# Create .venv (Python from .python-version), build and install the package
+uv sync
 
-# Install pybind11 dependency
-conda install -c conda-forge pybind11
-# or
-pip install pybind11
+# Run an example inside the project venv
+uv run examples/example.py
 
-# Build and install
-python setup.py install
+# Build sdist + wheel
+uv build
 ```
 
+Release wheels are built by cibuildwheel in `.github/workflows/wheels.yml`
+(manylinux_2_34 for both Linux arches, dictated by the vendored libraries'
+glibc requirements — see `vendor/README.md`).
+
 ## Data Flow and Threading
 
 The SDK uses a callback-based architecture:
@@ -84,13 +70,12 @@ The SDK uses a callback-based architecture:
 
 ## Dependencies
 
-### Required
-- pybind11 (Python binding framework)
-- CMake (build system)
-- XRoboToolkit-PC-Service SDK (automatically downloaded during setup)
+### Required (build time)
+- CMake >= 3.18 and a C++17 compiler
+- pybind11 and scikit-build-core (fetched automatically by the build backend)
 
-### Platform-specific Libraries
-- Linux: `libPXREARobotSDK.so`
+### Platform-specific Libraries (vendored in `vendor/`)
+- Linux: `libPXREARobotSDK.so` (x86_64 and aarch64 variants)
 - Windows: `PXREARobotSDK.dll` and `PXREARobotSDK.lib`
 
 ## Testing
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 654b7b6..e4a171c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,54 +1,43 @@
-cmake_minimum_required(VERSION 3.14)
+cmake_minimum_required(VERSION 3.18)
 
-project(MyPybind11Project LANGUAGES CXX)
+project(xrobotoolkit_sdk LANGUAGES CXX)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-cmake_host_system_information(RESULT ISA_NAME QUERY OS_PLATFORM) # Added: Important for UNIX specific logic
-message(STATUS "OS_PLATFORM (ISA_NAME): ${ISA_NAME}")
+find_package(pybind11 CONFIG REQUIRED)
 
-include(GNUInstallDirs) # Add this line
-find_package(pybind11 REQUIRED)
-
-# Python Bindings for py_bindings.cpp
-pybind11_add_module(xrobotoolkit_sdk MODULE bindings/py_bindings.cpp)
-
-# Link xrobotoolkit_sdk module against pybind11
-target_link_libraries(xrobotoolkit_sdk PRIVATE pybind11::module)
-
-# Add include directories and link libraries for PXREARobotSDK to xrobotoolkit_sdk target
+# --- Select the vendored prebuilt PXREARobotSDK for the target platform ---
+# Binaries are checked into vendor/ (see vendor/README.md for provenance).
 if(WIN32)
-  target_include_directories(xrobotoolkit_sdk PUBLIC
-      ${PROJECT_SOURCE_DIR}/include
-  )
-  target_link_directories(xrobotoolkit_sdk PUBLIC ${PROJECT_SOURCE_DIR}/lib)
-  target_link_libraries(xrobotoolkit_sdk PUBLIC
-      PXREARobotSDK.dll # Assuming this is how PXREARobotSDK is linked, mirroring ConsoleDemo
-  )
-endif()
-
-if(UNIX)
-  # ISA_NAME is set by cmake_host_system_information above
-  if(ISA_NAME STREQUAL "aarch64")
-    target_include_directories(xrobotoolkit_sdk PUBLIC
-        ${PROJECT_SOURCE_DIR}/include/aarch64
-    )
-    target_link_directories(xrobotoolkit_sdk PUBLIC ${PROJECT_SOURCE_DIR}/lib/aarch64)
+  set(XRT_VENDOR_DIR "${PROJECT_SOURCE_DIR}/vendor/windows_amd64")
+  set(XRT_VENDOR_IMPLIB "${XRT_VENDOR_DIR}/PXREARobotSDK.lib")
+  set(XRT_VENDOR_RUNTIME "${XRT_VENDOR_DIR}/PXREARobotSDK.dll")
+elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux")
+  if(CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64|arm64)$")
+    set(XRT_VENDOR_DIR "${PROJECT_SOURCE_DIR}/vendor/linux_aarch64")
   else()
-    target_include_directories(xrobotoolkit_sdk PUBLIC
-        ${PROJECT_SOURCE_DIR}/include
-    )
-    target_link_directories(xrobotoolkit_sdk PUBLIC ${PROJECT_SOURCE_DIR}/lib)
+    set(XRT_VENDOR_DIR "${PROJECT_SOURCE_DIR}/vendor/linux_x86_64")
   endif()
-  target_link_libraries(xrobotoolkit_sdk PUBLIC
-      PXREARobotSDK
-  )
+  set(XRT_VENDOR_IMPLIB "${XRT_VENDOR_DIR}/libPXREARobotSDK.so")
+  set(XRT_VENDOR_RUNTIME "${XRT_VENDOR_DIR}/libPXREARobotSDK.so")
+else()
+  message(FATAL_ERROR
+    "Unsupported platform '${CMAKE_SYSTEM_NAME}'. PXREARobotSDK ships prebuilt "
+    "binaries for Linux (x86_64, aarch64) and Windows (amd64) only.")
+endif()
+
+pybind11_add_module(_core MODULE bindings/py_bindings.cpp)
+
+target_include_directories(_core PRIVATE "${PROJECT_SOURCE_DIR}/vendor/include")
+target_link_libraries(_core PRIVATE "${XRT_VENDOR_IMPLIB}")
+
+# The extension and the vendored shared library are installed side by side in
+# the package directory; $ORIGIN makes the dynamic linker look there first.
+# (On Windows, __init__.py calls os.add_dll_directory instead.)
+if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
+  set_target_properties(_core PROPERTIES INSTALL_RPATH "$ORIGIN")
 endif()
 
-# Install the Python module
-install(TARGETS xrobotoolkit_sdk
-    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} # Installs to <prefix>/lib
-                                                # You might want a Python-specific path like:
-                                                # DESTINATION lib/python${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}/site-packages
-)
+install(TARGETS _core LIBRARY DESTINATION xrobotoolkit_sdk)
+install(FILES "${XRT_VENDOR_RUNTIME}" DESTINATION xrobotoolkit_sdk)
diff --git a/README.md b/README.md
index 9d7a937..95a1557 100644
--- a/README.md
+++ b/README.md
@@ -4,49 +4,45 @@ This project provides a python interface to extract XR state using XRoboToolkit-
 
 ## Requirements
 
-- [`pybind11`](https://github.com/pybind/pybind11)
-- [`XRoboRoolkit PC Service`](https://github.com/XR-Robotics/XRoboToolkit-PC-Service#)
+- Linux (x86_64 or aarch64, e.g. NVIDIA Orin) or Windows (x64), Python >= 3.10
+- A running [XRoboToolkit PC Service](https://github.com/XR-Robotics/XRoboToolkit-PC-Service) with a connected PICO headset (at runtime)
 
-## Building the Project
-### Ubuntu 22.04
+The prebuilt `PXREARobotSDK` binaries are vendored in `vendor/`, so no manual
+SDK download or build is needed.
 
+## Installation
+
+### From PyPI (once published)
+
+```bash
+uv add xrobotoolkit-sdk
+# or
+pip install xrobotoolkit-sdk
 ```
-conda remove --name xr --all
-conda create -n xr python=3.10
-conda activate xr
-
-mkdir -p tmp
-cd tmp
-git clone https://github.com/XR-Robotics/XRoboToolkit-PC-Service.git
-cd XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK 
-bash build.sh
-cd ../../../..
-
-mkdir -p lib
-mkdir -p include
-cp tmp/XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK/PXREARobotSDK.h include/
-cp -r tmp/XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK/nlohmann include/nlohmann/
-cp tmp/XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK/build/libPXREARobotSDK.so lib/
-# rm -rf tmp
-
-# Build the project
-conda install -c conda-forge pybind11
-
-pip uninstall -y xrobotoolkit_sdk
-python setup.py install
-```
-### Linux Ubuntu 22.04 arm64 version (Nvidia orin supported)
-```
-bash setup_orin.sh
-```
-### Windows
 
-**Ensure pybind11 is installed before running the following command.**
+### From source
 
+If you do not have [uv](https://docs.astral.sh/uv/) installed, run:
+
+```bash
+curl -LsSf https://astral.sh/uv/install.sh | sh
 ```
-setup_windows.bat
+
+Then (requires CMake and a C++17 compiler):
+
+```bash
+git clone https://github.com/XR-Robotics/XRoboToolkit-PC-Service-Pybind.git
+cd XRoboToolkit-PC-Service-Pybind
+uv sync
 ```
 
+`uv sync` creates `.venv/` with the Python version pinned in `.python-version`,
+builds the extension, and installs the package into it. Run scripts with e.g.
+`uv run examples/example.py`.
+
+To build distributable artifacts locally: `uv build` (wheels for Linux/Windows
+are also built in CI via cibuildwheel, see `.github/workflows/wheels.yml`).
+
 ## Using the Python Bindings
 
 **1. Get Controller and Headset Poses**
diff --git a/bindings/py_bindings.cpp b/bindings/py_bindings.cpp
index 4f7c9d9..9f0a6e4 100644
--- a/bindings/py_bindings.cpp
+++ b/bindings/py_bindings.cpp
@@ -495,7 +495,7 @@ int SendBytesToDeviceWrapper(const std::string& dev_id, pybind11::bytes blob) {
 }
 
 
-PYBIND11_MODULE(xrobotoolkit_sdk, m) {
+PYBIND11_MODULE(_core, m) {
     m.def("init", &init, "Initialize the PXREARobot SDK.");
     m.def("close", &deinit, "Deinitialize the PXREARobot SDK.");
     m.def("get_left_controller_pose", &getLeftControllerPose, "Get the left controller pose.");
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000..e464a3a
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,53 @@
+[build-system]
+requires = ["scikit-build-core>=0.11", "pybind11>=2.13"]
+build-backend = "scikit_build_core.build"
+
+[project]
+name = "xrobotoolkit-sdk"
+version = "1.1.0"
+description = "Python bindings for the XRoboToolkit PC Service SDK (PICO XR controller, hand, and body tracking)."
+readme = "README.md"
+license = "MIT"
+license-files = ["LICENSE"]
+authors = [{ name = "Zhigen Zhao", email = "zhigen.zhao@bytedance.com" }]
+requires-python = ">=3.10"
+classifiers = [
+  "Programming Language :: Python :: 3",
+  "Programming Language :: C++",
+  "Operating System :: POSIX :: Linux",
+  "Operating System :: Microsoft :: Windows",
+  "Topic :: Scientific/Engineering",
+]
+
+[project.urls]
+Homepage = "https://github.com/XR-Robotics/XRoboToolkit-PC-Service-Pybind"
+Upstream = "https://github.com/XR-Robotics/XRoboToolkit-PC-Service"
+
+[tool.scikit-build]
+minimum-version = "build-system.requires"
+wheel.packages = ["src/xrobotoolkit_sdk"]
+
+# Rebuild the extension when any of these change (uv caches builds otherwise).
+[tool.uv]
+cache-keys = [
+  { file = "pyproject.toml" },
+  { file = "CMakeLists.txt" },
+  { file = "bindings/**" },
+  { file = "vendor/**" },
+]
+
+[tool.cibuildwheel]
+archs = ["auto64"]
+# Skip musl (no vendored musl lib) and free-threaded CPython (pybind11
+# free-threading support is experimental; Windows link also fails on it).
+skip = "*-musllinux* cp3*t-*"
+test-command = 'python -c "import xrobotoolkit_sdk"'
+
+[tool.cibuildwheel.linux]
+# The vendored aarch64 libPXREARobotSDK.so requires glibc >= 2.34, the x86_64
+# one glibc >= 2.29, so manylinux_2_34 is the oldest tag both can claim.
+manylinux-x86_64-image = "manylinux_2_34"
+manylinux-aarch64-image = "manylinux_2_34"
+# libPXREARobotSDK.so is already bundled in the package with rpath $ORIGIN;
+# exclude it so auditwheel does not graft a second copy into .libs.
+repair-wheel-command = "auditwheel repair --exclude libPXREARobotSDK.so -w {dest_dir} {wheel}"
diff --git a/setup.py b/setup.py
deleted file mode 100644
index 0cd2b10..0000000
--- a/setup.py
+++ /dev/null
@@ -1,148 +0,0 @@
-import os
-import platform
-import re
-import shutil  # Added for shutil.rmtree
-import subprocess
-import sys
-from distutils.version import LooseVersion
-
-from setuptools import Command, Extension, find_packages, setup  # Added Command
-from setuptools.command.build_ext import build_ext
-
-
-class CMakeExtension(Extension):
-    def __init__(self, name, sourcedir=""):
-        Extension.__init__(self, name, sources=[])
-        self.sourcedir = os.path.abspath(sourcedir)
-
-
-class CMakeBuild(build_ext):
-    def run(self):
-        try:
-            out = subprocess.check_output(["cmake", "--version"])
-        except OSError:
-            raise RuntimeError(
-                "CMake must be installed to build the following extensions: "
-                + ", ".join(e.name for e in self.extensions)
-            )
-
-        if platform.system() == "Windows":
-            cmake_version = LooseVersion(re.search(r"version\s*([\d.]+)", out.decode()).group(1))
-            if cmake_version < "3.1.0":
-                raise RuntimeError("CMake >= 3.1.0 is required on Windows")
-
-        for ext in self.extensions:
-            self.build_extension(ext)
-
-    def build_extension(self, ext):
-        extdir = os.path.abspath(os.path.dirname(self.get_ext_fullpath(ext.name)))
-        # required for auto-detection of auxiliary "native" libs
-        if not extdir.endswith(os.path.sep):
-            extdir += os.path.sep
-
-        # Get pybind11 include paths
-        cmake_args = [
-            "-DCMAKE_LIBRARY_OUTPUT_DIRECTORY=" + extdir,
-            "-DPYTHON_EXECUTABLE=" + sys.executable,
-            "-DCMAKE_BUILD_TYPE=Release",
-        ]
-
-        cfg = "Debug" if self.debug else "Release"
-        build_args = ["--config", cfg]
-
-        if platform.system() == "Windows":
-            cmake_args += ["-DCMAKE_LIBRARY_OUTPUT_DIRECTORY_{}={}".format(cfg.upper(), extdir)]
-            if sys.maxsize > 2**32:
-                cmake_args += ["-A", "x64"]
-            build_args += ["--", "/m"]
-        else:
-            cmake_args += ["-DCMAKE_BUILD_TYPE=" + cfg]
-            build_args += ["--", "-j2"]  # Adjust core count as needed
-
-        env = os.environ.copy()
-        env["CXXFLAGS"] = '{} -DVERSION_INFO=\\"{}\\"'.format(
-            env.get("CXXFLAGS", ""), self.distribution.get_version()
-        )
-        if not os.path.exists(self.build_temp):
-            os.makedirs(self.build_temp)
-
-        subprocess.check_call(["cmake", ext.sourcedir] + cmake_args, cwd=self.build_temp, env=env)
-        subprocess.check_call(["cmake", "--build", "."] + build_args, cwd=self.build_temp)
-
-
-# New Clean Command
-class CleanCommand(Command):
-    """Custom clean command to tidy up the project root."""
-
-    user_options = []
-
-    def initialize_options(self):
-        pass
-
-    def finalize_options(self):
-        pass
-
-    def run(self):
-        # Remove build directory
-        if os.path.exists("build"):
-            print("Removing 'build/' directory")
-            shutil.rmtree("build")
-        # Remove .egg-info directory
-        for item in os.listdir("."):
-            if item.endswith(".egg-info"):
-                print(f"Removing '{item}' directory")
-                shutil.rmtree(item)
-        for item in os.listdir("."):
-            if item.endswith(".eggs"):
-                print(f"Removing '{item}' directory")
-                shutil.rmtree(item)
-        # Optionally, remove dist directory if you generate distributions
-        if os.path.exists("dist"):
-            print("Removing 'dist/' directory")
-            shutil.rmtree("dist")
-
-
-# New Uninstall Command
-class UninstallCommand(Command):
-    """Custom command to uninstall the package."""
-
-    user_options = []
-
-    def initialize_options(self):
-        pass
-
-    def finalize_options(self):
-        pass
-
-    def run(self):
-        package_name = self.distribution.get_name()
-        print(f"Attempting to uninstall {package_name}...")
-        try:
-            subprocess.check_call([sys.executable, "-m", "pip", "uninstall", "-y", package_name])
-            print(f"{package_name} uninstalled successfully.")
-        except subprocess.CalledProcessError as e:
-            print(
-                f"Failed to uninstall {package_name}. It may not be installed or pip uninstall failed."
-            )
-            print(f"Error: {e}")
-        except FileNotFoundError:
-            print("pip command not found. Please ensure pip is installed and in your PATH.")
-
-
-setup(
-    name="xrobotoolkit_sdk",
-    version="1.0.2",
-    author="Zhigen Zhao",
-    author_email="zhigen.zhao@bytedance.com",
-    description="A Python binding for XRobotoolkit PC Service SDK using pybind11 and CMake",
-    long_description="",  # Optionally, load from a README.md file
-    ext_modules=[CMakeExtension("xrobotoolkit_sdk")],
-    cmdclass=dict(
-        build_ext=CMakeBuild,
-        clean=CleanCommand,  # Add clean command
-        uninstall=UninstallCommand,  # Add uninstall command
-    ),
-    zip_safe=False,
-    python_requires=">=3.10",  # Specify your Python version requirement
-    packages=find_packages(),  # If you have other Python packages in your project
-)
diff --git a/setup_orin.sh b/setup_orin.sh
deleted file mode 100644
index 5d7476f..0000000
--- a/setup_orin.sh
+++ /dev/null
@@ -1,27 +0,0 @@
-if [[ "$CONDA_DEFAULT_ENV" != "" ]]; then
-    conda install -c conda-forge libstdcxx-ng -y
-fi
-
-mkdir -p tmp
-cd tmp
-git clone -b orin https://github.com/XR-Robotics/XRoboToolkit-PC-Service.git
-cd XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK 
-bash build.sh
-cd ../../../..
-
-mkdir -p lib/aarch64
-mkdir -p include/aarch64
-cp tmp/XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK/PXREARobotSDK.h include/aarch64/
-cp -r tmp/XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK/nlohmann include/aarch64/nlohmann/
-cp tmp/XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK/build/libPXREARobotSDK.so lib/aarch64/
-# rm -rf tmp
-
-# Build the project
-if [[ "$CONDA_DEFAULT_ENV" != "" ]]; then
-    conda install -c conda-forge pybind11 -y
-else
-    pip install pybind11 -y
-fi
-
-pip uninstall -y xrobotoolkit_sdk
-python setup.py install
\ No newline at end of file
diff --git a/setup_ubuntu.sh b/setup_ubuntu.sh
deleted file mode 100644
index 327cc93..0000000
--- a/setup_ubuntu.sh
+++ /dev/null
@@ -1,27 +0,0 @@
-if [[ "$CONDA_DEFAULT_ENV" != "" ]]; then
-    conda install -c conda-forge libstdcxx-ng -y
-fi
-
-mkdir -p tmp
-cd tmp
-git clone https://github.com/XR-Robotics/XRoboToolkit-PC-Service.git
-cd XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK 
-bash build.sh
-cd ../../../..
-
-mkdir -p lib
-mkdir -p include
-cp tmp/XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK/PXREARobotSDK.h include/
-cp -r tmp/XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK/nlohmann include/nlohmann/
-cp tmp/XRoboToolkit-PC-Service/RoboticsService/PXREARobotSDK/build/libPXREARobotSDK.so lib/
-# rm -rf tmp
-
-# Build the project
-if [[ "$CONDA_DEFAULT_ENV" != "" ]]; then
-    conda install -c conda-forge pybind11 -y
-else
-    pip install pybind11 -y
-fi
-
-pip uninstall -y xrobotoolkit_sdk
-python setup.py install
\ No newline at end of file
diff --git a/setup_windows.bat b/setup_windows.bat
deleted file mode 100644
index 26de589..0000000
--- a/setup_windows.bat
+++ /dev/null
@@ -1,242 +0,0 @@
-@echo off
-setlocal
-
-echo Setting up environment for XRoboToolkit-PC-Service...
-
-:: Define the base directory for the script execution
-set "SCRIPT_ROOT=%CD%"
-
-:: Define a temporary directory for cloning
-set "TEMP_DIR=tmp"
-
-:: Define source paths relative to the cloned repository root
-set "XROBOTKIT_CLONED_REPO_PATH=%TEMP_DIR%\XRoboToolkit-PC-Service"
-set "PXREAROBOTSDK_SOURCE_DIR=%XROBOTKIT_CLONED_REPO_PATH%\RoboticsService\PXREARobotSDK"
-set "PXREAROBOTSDK_LIB_DIR=%XROBOTKIT_CLONED_REPO_PATH%\RoboticsService\SDK\win\64"
-
-:: Define destination directories
-set "LIB_DEST_DIR=%SCRIPT_ROOT%\lib"
-set "INCLUDE_DEST_DIR=%SCRIPT_ROOT%\include"
-
-:: Create destination directories
-echo Creating destination directories...
-mkdir "%LIB_DEST_DIR%" 2>NUL
-if not exist "%LIB_DEST_DIR%" (
-    echo Error: Failed to create lib directory. Exiting.
-    exit /b 1
-)
-
-mkdir "%INCLUDE_DEST_DIR%" 2>NUL
-if not exist "%INCLUDE_DEST_DIR%" (
-    echo Error: Failed to create include directory. Exiting.
-    exit /b 1
-)
-
-echo Destination directories created successfully.
-
-:: --- Check for pybind11 and install if not found ---
-echo.
-echo Checking for pybind11...
-pip show pybind11 >NUL 2>&1
-if %errorlevel% neq 0 (
-    echo Error: pybind11 not found. Please run `pip install pybind11` first. Exiting.
-    exit /b 1
-)
-
-:: --- Set PYBIND11_DIR for CMake ---
-echo.
-echo Setting PYBIND11_DIR environment variable...
-for /f "usebackq" %%i in (`python -c "import sys; print(sys.prefix)"`) do set PYTHON_PREFIX=%%i
-if not defined PYTHON_PREFIX (
-    echo Error: Could not determine Python installation prefix.
-    echo Please ensure Python is correctly installed and in your PATH. Exiting.
-    exit /b 1
-)
-
-set "PYBIND11_DIR=%PYTHON_PREFIX%\Lib\site-packages\pybind11\share\cmake\pybind11"
-echo Attempting to set PYBIND11_DIR to: %PYBIND11_DIR%
-set PYBIND11_DIR=%PYBIND11_DIR%
-if not exist "%PYBIND11_DIR%\pybind11Config.cmake" (
-    echo Warning: pybind11Config.cmake not found at expected PYBIND11_DIR: "%PYBIND11_DIR%"
-    echo This might indicate a problem with the pybind11 installation or its path.
-    :: Attempting to find another common path if the standard one doesn't work.
-    for /d %%d in ("%PYTHON_PREFIX%\Lib\site-packages\pybind11\share\cmake\*") do (
-        if exist "%%d\pybind11Config.cmake" (
-            set "PYBIND11_DIR=%%d"
-            echo Found pybind11Config.cmake in "%%d". Using this path.
-            goto :pybind11_dir_found
-        )
-    )
-    echo Critical Error: pybind11Config.cmake could not be found after pybind11 installation.
-    echo Please check your pybind11 installation. Exiting.
-    exit /b 1
-)
-:pybind11_dir_found
-echo PYBIND11_DIR set to: %PYBIND11_DIR%
-
-set "DLL_NAME=PXREARobotSDK.dll"
-set "LIB_NAME=PXREARobotSDK.lib"
-
-:: Create the temporary directory and navigate into it
-echo Creating temporary directory: %TEMP_DIR%
-mkdir %TEMP_DIR%
-if not exist %TEMP_DIR% (
-    echo Error: Failed to create temporary directory %TEMP_DIR%. Ingore.
-)
-cd %TEMP_DIR%
-if %errorlevel% neq 0 (
-    echo Error: Failed to navigate into %TEMP_DIR%. Exiting.
-    exit /b 1
-)
-
-:: Clone the repository
-echo Cloning XRoboToolkit-PC-Service repository...
-git clone https://github.com/XR-Robotics/XRoboToolkit-PC-Service.git
-if %errorlevel% neq 0 (
-    echo Error: Git clone failed. Exiting.
-    cd ..
-    rmdir /s /q %TEMP_DIR%
-    exit /b 1
-)
-
-:: Navigate back to the script's root directory to handle destinations
-cd %SCRIPT_ROOT%
-if %errorlevel% neq 0 (
-    echo Error: Failed to navigate back to script root. Exiting.
-    exit /b 1
-)
-
-:: --- Copy Header Files ---
-echo.
-echo Copying header files to %INCLUDE_DEST_DIR%...
-
-:: Copy PXREARobotSDK.h
-set "PXREAROBOTSDK_H_SRC=%PXREAROBOTSDK_SOURCE_DIR%\PXREARobotSDK.h"
-echo Copying %PXREAROBOTSDK_H_SRC%
-copy "%PXREAROBOTSDK_H_SRC%" "%INCLUDE_DEST_DIR%\"
-if %errorlevel% neq 0 (
-    echo Error: Failed to copy PXREARobotSDK.h. Exiting.
-    goto :cleanup_and_exit
-)
-
-:: Create nlohmann subdirectory in include
-set "NLOHMANN_INCLUDE_DEST_DIR=%INCLUDE_DEST_DIR%\nlohmann"
-echo Ensuring '%NLOHMANN_INCLUDE_DEST_DIR%' directory exists...
-mkdir %NLOHMANN_INCLUDE_DEST_DIR% 2>NUL
-if %errorlevel% neq 0 (
-    echo Error: Failed to create nlohmann include directory. Ignore.
-)
-
-:: Copy nlohmann/json.hpp
-set "NLOHMANN_JSON_HPP_SRC=%PXREAROBOTSDK_SOURCE_DIR%\nlohmann\json.hpp"
-echo Copying %NLOHMANN_JSON_HPP_SRC%
-copy "%NLOHMANN_JSON_HPP_SRC%" "%NLOHMANN_INCLUDE_DEST_DIR%\"
-if %errorlevel% neq 0 (
-    echo Error: Failed to copy nlohmann/json.hpp. Exiting.
-    goto :cleanup_and_exit
-)
-
-:: Copy nlohmann/json_fwd.hpp
-set "NLOHMANN_JSON_FWD_HPP_SRC=%PXREAROBOTSDK_SOURCE_DIR%\nlohmann\json_fwd.hpp"
-echo Copying %NLOHMANN_JSON_FWD_HPP_SRC%
-copy "%NLOHMANN_JSON_FWD_HPP_SRC%" "%NLOHMANN_INCLUDE_DEST_DIR%\"
-if %errorlevel% neq 0 (
-    echo Error: Failed to copy nlohmann/json_fwd.hpp. Exiting.
-    goto :cleanup_and_exit
-)
-
-echo Header files copied successfully.
-
-:: --- Copy Pre-built PXREARobotSDK DLL and LIB ---
-echo.
-echo Checking for pre-built libraries in %PXREAROBOTSDK_LIB_DIR%
-set "DLL_SOURCE_PATH=%PXREAROBOTSDK_LIB_DIR%\%DLL_NAME%"
-set "LIB_SOURCE_PATH=%PXREAROBOTSDK_LIB_DIR%\%LIB_NAME%"
-
-if not exist "%DLL_SOURCE_PATH%" (
-    echo Error: Required DLL "%DLL_SOURCE_PATH%" not found.
-    echo Please ensure the cloned repository contains the pre-built files.
-    goto :cleanup_and_exit
-)
-if not exist "%LIB_SOURCE_PATH%" (
-    echo Error: Required LIB "%LIB_SOURCE_PATH%" not found.
-    echo Please ensure the cloned repository contains the pre-built files.
-    goto :cleanup_and_exit
-)
-
-echo Copying %DLL_NAME% to %LIB_DEST_DIR%/
-copy "%DLL_SOURCE_PATH%" "%LIB_DEST_DIR%\"
-if %errorlevel% neq 0 (
-    echo Error: Failed to copy %DLL_NAME%. Exiting.
-    goto :cleanup_and_exit
-)
-
-echo Copying %LIB_NAME% to %LIB_DEST_DIR%/
-copy "%LIB_SOURCE_PATH%" "%LIB_DEST_DIR%\"
-if %errorlevel% neq 0 (
-    echo Error: Failed to copy %LIB_NAME%. Exiting.
-    goto :cleanup_and_exit
-)
-
-echo Libraries copied successfully.
-
-:: Build and install the Python project
-echo.
-echo Building and installing the Python project...
-python setup.py install
-if %errorlevel% neq 0 (
-    echo Error: Python setup.py install failed. Exiting.
-    goto :cleanup_and_exit
-)
-
-:: Copy DLL to the installed package location
-echo.
-echo Copying DLL to the installed package location...
-for /f "usebackq" %%i in (`python -c "import site; print(site.getsitepackages()[0])"`) do set SITE_PACKAGES=%%i
-if not defined SITE_PACKAGES (
-    echo Warning: Could not determine site-packages directory.
-    echo DLL not copied to package location. You may need to do this manually.
-    goto :cleanup_and_exit
-)
-
-:: Find the egg directory
-set "FOUND_EGG="
-for /d %%d in ("%SITE_PACKAGES%\Lib\site-packages\xrobotoolkit_sdk-*") do (
-    set "FOUND_EGG=%%d"
-    goto :egg_found
-)
-:egg_found
-
-if not defined FOUND_EGG (
-    echo Warning: Could not find xrobotoolkit_sdk egg directory in %SITE_PACKAGES%
-    echo Looking in easy-install.pth...
-    if exist "%SITE_PACKAGES%\easy-install.pth" (
-        for /f "usebackq tokens=*" %%i in (`findstr /i "xrobotoolkit_sdk" "%SITE_PACKAGES%\easy-install.pth"`) do set "FOUND_EGG=%%i"
-    )
-)
-
-if not defined FOUND_EGG (
-    echo Warning: Could not find xrobotoolkit_sdk egg directory.
-    echo DLL not copied to package location. You may need to do this manually.
-) else (
-    echo Found egg directory: %FOUND_EGG%
-    echo Copying %DLL_NAME% to %FOUND_EGG%
-    copy "%LIB_DEST_DIR%\%DLL_NAME%" "%FOUND_EGG%\"
-    if %errorlevel% neq 0 (
-        echo Warning: Failed to copy DLL to egg directory.
-    ) else (
-        echo DLL successfully copied to package location.
-    )
-)
-
-echo Setup completed successfully!
-
-:cleanup_and_exit
-:: Remove the temporary directory
-echo Cleaning up temporary directory: %TEMP_DIR%
-rmdir /s /q "%SCRIPT_ROOT%\%TEMP_DIR%"
-if %errorlevel% neq 0 (
-    echo Warning: Failed to remove temporary directory "%SCRIPT_ROOT%\%TEMP_DIR%". Please remove it manually.
-)
-
-endlocal
\ No newline at end of file
diff --git a/src/xrobotoolkit_sdk/__init__.py b/src/xrobotoolkit_sdk/__init__.py
new file mode 100644
index 0000000..866ffa0
--- /dev/null
+++ b/src/xrobotoolkit_sdk/__init__.py
@@ -0,0 +1,23 @@
+"""Python bindings for the XRoboToolkit PC Service SDK.
+
+Exposes XR device state streamed from a PICO headset via the XRoboToolkit
+PC Service: controller poses and inputs, hand tracking, whole-body motion
+tracking, and standalone motion trackers.
+"""
+
+from __future__ import annotations
+
+import os
+import sys
+
+
+def _add_windows_dll_directory() -> None:
+    """Make the bundled PXREARobotSDK.dll resolvable before importing _core."""
+    if sys.platform != "win32":
+        return
+    os.add_dll_directory(os.path.dirname(os.path.abspath(__file__)))
+
+
+_add_windows_dll_directory()
+
+from xrobotoolkit_sdk._core import *  # noqa: E402,F403
diff --git a/uv.lock b/uv.lock
new file mode 100644
index 0000000..33b7d7b
--- /dev/null
+++ b/uv.lock
@@ -0,0 +1,8 @@
+version = 1
+revision = 3
+requires-python = ">=3.10"
+
+[[package]]
+name = "xrobotoolkit-sdk"
+version = "1.1.0"
+source = { editable = "." }
diff --git a/vendor/README.md b/vendor/README.md
new file mode 100644
index 0000000..003c816
--- /dev/null
+++ b/vendor/README.md
@@ -0,0 +1,17 @@
+# Vendored PXREARobotSDK binaries
+
+Prebuilt binaries and headers copied verbatim from
+[XR-Robotics/XRoboToolkit-PC-Service](https://github.com/XR-Robotics/XRoboToolkit-PC-Service)
+at commit `85bac4dbc1fd5cef42c74a160d9c30aa3491f122`.
+
+| Path | Upstream source |
+| --- | --- |
+| `include/PXREARobotSDK.h` | `RoboticsService/SDK/include/PXREARobotSDK.h` |
+| `include/nlohmann/` | `RoboticsService/PXREARobotSDK/nlohmann/` |
+| `linux_x86_64/libPXREARobotSDK.so` | `RoboticsService/SDK/linux/64/` (needs glibc >= 2.29) |
+| `linux_aarch64/libPXREARobotSDK.so` | `RoboticsService/SDK/linux_aarch64/64/` (needs glibc >= 2.34) |
+| `windows_amd64/PXREARobotSDK.{dll,lib}` | `RoboticsService/SDK/win/64/` |
+
+To update: clone upstream, copy the files listed above, and record the new
+commit hash here. If the glibc requirements of the Linux libraries change,
+adjust the `manylinux-*-image` settings in `pyproject.toml` accordingly.
diff --git a/include/PXREARobotSDK.h b/vendor/include/PXREARobotSDK.h
similarity index 100%
rename from include/PXREARobotSDK.h
rename to vendor/include/PXREARobotSDK.h
diff --git a/include/nlohmann/json.hpp b/vendor/include/nlohmann/json.hpp
similarity index 100%
rename from include/nlohmann/json.hpp
rename to vendor/include/nlohmann/json.hpp
diff --git a/include/nlohmann/json_fwd.hpp b/vendor/include/nlohmann/json_fwd.hpp
similarity index 100%
rename from include/nlohmann/json_fwd.hpp
rename to vendor/include/nlohmann/json_fwd.hpp
diff --git a/vendor/linux_aarch64/libPXREARobotSDK.so b/vendor/linux_aarch64/libPXREARobotSDK.so
new file mode 100644
index 0000000..bad131e
Binary files /dev/null and b/vendor/linux_aarch64/libPXREARobotSDK.so differ
diff --git a/vendor/linux_x86_64/libPXREARobotSDK.so b/vendor/linux_x86_64/libPXREARobotSDK.so
new file mode 100644
index 0000000..2d651c2
Binary files /dev/null and b/vendor/linux_x86_64/libPXREARobotSDK.so differ
diff --git a/vendor/windows_amd64/PXREARobotSDK.dll b/vendor/windows_amd64/PXREARobotSDK.dll
new file mode 100644
index 0000000..519ac70
Binary files /dev/null and b/vendor/windows_amd64/PXREARobotSDK.dll differ
diff --git a/vendor/windows_amd64/PXREARobotSDK.lib b/vendor/windows_amd64/PXREARobotSDK.lib
new file mode 100644
index 0000000..edf6282
Binary files /dev/null and b/vendor/windows_amd64/PXREARobotSDK.lib differ