Hotfix

Fix

• Packaging: Relaxed requires-python in the isaacteleop Python wheel from ==<build-python>.* to >=3.10 (#405).

Why

Wheels built against different Python minor versions (e.g. 3.10 vs 3.11) were each pinning requires-python to their exact build-time version. This made the wheels non-interchangeable on PyPI/NGC and prevented users on a different Python minor from installing a published wheel that would otherwise work.

Impact

• pip install isaacteleop now resolves correctly across supported Python 3.10+ interpreters regardless of which interpreter the wheel was built against.
• No API or runtime behavior changes; packaging metadata only.
• Single-file change: src/core/python/pyproject.toml.in.

Isaac Teleop 1.0.191 Release Notes

Release Date: March 16, 2026

This is a the first GA release that marks the transition from Isaac Teleop 0.3 to 1.0, representing the product's first stable public release. It includes 204 commits spanning 488 changed files with ~42,700 additions and ~13,200 deletions since v0.3.15.

Highlights

• Rebranded to Isaac Teleop -- the project has been officially renamed to Isaac Teleop.
• Python wheel-based installation -- Isaac Teleop can now be installed via pip install as a Python wheel, replacing the Docker-first workflow as the default setup.
• ROS 2 integration -- a full-featured ROS 2 Reference App (RA) with support for ROS Humble and Jazzy, teleop modes, TF tree publishing, and CycloneDDS.
• Full body tracking -- added PICO XR full body tracker, finger joint retargeting, and full-body mode support across the ROS pipeline.
• CloudXR 6.1.0 -- upgraded to CloudXR Runtime 6.1.0 and WebXR client 6.1.0.
• ARM64 support -- builds and CI now support ARM64 architecture for both the core runtime and Docker images.
• Comprehensive documentation -- new Sphinx-based docs covering quick start, device tracking, teleop sessions, retargeters, build-from-source, and licensing.

New Features

ROS 2 Reference App

• Added ROS 2 Reference App for teleoperation (teleop_ros2) with support for both Humble and Jazzy distributions.
• Introduced ROS teleop modes for structured control switching.
• Added ability to publish left and right wrist transforms to the TF tree.
• Publish controller data in full_body mode to support seamless mode transitions.
• Encapsulated publisher logic in a dedicated ROS 2 node.
• Added optional CycloneDDS dependency for ROS teleop.

Body & Hand Tracking

• Added PICO XR full body tracker (FullBodyTrackerPico).
• Added finger joint retargeting.
• Full body tracking support in the ROS 2 Reference App.
• Added hand tracking directions and controller aim pose fallback when hand tracking is unavailable.
• Made head pose optional in the retargeter source.
• Created tracked types with optional data to handle inactive input sources.

Retargeters

• Implemented foot pedal retargeter with hot-plug support for Linux joystick API devices.
• Added tunable parameters to the SE3 retargeter.
• Added transform utilities, TransformMatrix type, and .transformed() methods.
• Added optional values to the retargeter system.
• Added retargeter timing instrumentation.
• Moved retargeters under src/ for cleaner project structure.

Camera & Streaming

• New Holoscan-based camera streamer sample application.
• Added SSH push command for cam_streamer with exposed camera outputs.
• Camera streamer reconnection fix using re-exec pattern.
• Multi-stream and sensor check for OAK camera.
• Camera tracker now supports multiple channels.
• Added distance threshold for camera plane repositioning.

Recording & Schema

• Implemented SchemaPusher & Tracker on top of Generic Tensor Device.
• Added lossless schema recording for tensor devices.
• Created SchemaRecord wrapper types for all schemas.
• Multi-channel recording support for hand and controller trackers.
• Added MCAP support for per-stream metadata.

CloudXR & Runtime

• Updated to CloudXR Runtime 6.1.0 (via rc1 through rc7 progression).
• Bundled CloudXR runtime into TeleopCore for simplified deployment.
• Added CloudXR Runtime SDK and Dockerfile.
• Added process management for CXR runtime and WSS proxy.
• Added runtime and WSS proxy script.
• Proxy shows a friendlier page when the SSL certificate is accepted.
• Fixed CloudXR runtime crash from OpenSSL symbol conflict.

Installation & Deployment

• Python wheel is now the default installation method (pip install isaacteleop).
• Added EULA acceptance via --accept-eula flag.
• Kitmaker integration for NVIDIA distribution.
• Added wheel repair step for release builds.

OpenXR

• Restructured to native_openxr architecture.
• Added support for passing external OpenXR handles to Teleop Session.
• Added xdev examples and inline utilities for loading extension functions.
• Added plugin_args support to plugin_manager.

Teleop Session

• Enabled external inputs in TeleopSession.
• Added collection_id parameter to the plugin.
• Updated timestamp handling with local and device clock.
• Improved GPU index configurability.

Bug Fixes

• Fixed quaternion ordering in dex retargeting and general retargeting.
• Fixed joystick input ordering in controller source.
• Fixed multiple controller trackers using temporary workaround.
• Fixed camera streamer reconnection with re-exec.
• Fixed camera streamer Docker build on ARM64.
• Fixed CloudXR runtime crash from OpenSSL symbol conflict.
• Fixed MCAP schema writer for OAK.
• Fixed package version handling.
• Fixed stubgen caching.
• Fixed script that assumed docker compose exists.
• Handled numpy ABI for both 1.x and 2.x compatibility.
• Used numpy>=1.22.2 to address CVE-2021-41495.
• Fixed ROS 2 Teleop Dockerfile nlopt build on ARM64.
• Relaxed nlopt version constraint for x86.

Platform & Infrastructure

• Enabled ARM64 builds and CI testing.
• Added Windows workflow concurrency settings.
• Upgraded to Ubuntu 22.04 for CI builds.
• Bumped GitHub Actions (checkout, cache, setup-python, artifact actions) to latest versions.
• Pinned uv version for reproducible builds.
• Pre-installed heavy Python dependencies in Docker images to speed up launches.
• Enabled CodeRabbit automated code review.
• Set up ruff pre-commit and REUSE-compliant license checking.

Documentation

• Complete Sphinx-based documentation site with multi-version support.
• Quick start guide for wheel-based installation.
• Guides for teleop sessions, device tracking, retargeters, and the device ecosystem.
• Build-from-source reference (replacing the old BUILD.md).
• SSL certificate setup visuals.
• ROS documentation updated to match implementation.
• Added copy button, dark mode fixes, and improved code block styling.
• Source code linking to GitHub from docs.

Breaking Changes

• Renamed from previous project name to Isaac Teleop -- all package references updated.
• Retargeters moved under src/ -- import paths have changed.
• Restructured to native_openxr -- OpenXR code reorganized.
• run_cloudxr.sh now uses the wheel-based flow by default (Docker-based flow available as run_cloudxr_via_docker.sh).
• IDeviceIOSource refactored -- added poll_tracker() and updated class hierarchy.

Known Dependencies

• Python 3.x with numpy>=1.22.2
• CloudXR Runtime SDK 6.1.0
• ROS 2 Humble or Jazzy (for teleop_ros2)
• Ubuntu 22.04 & 24.04 (Linux)
• No Windows support (basic build validation only)

Isaac Teleop (TeleopCore) Release Notes

Release 0.3.15 (vs 0.2)

Release branch: release/0.3.x

Highlights

• Project rename: TeleopCore is now Isaac Teleop — the unified framework for high-fidelity ego-centric and robotics data collection. Documentation and branding have been updated accordingly.
• Retargeting framework: Port of Isaac Lab retargeters with a type system, source nodes, and examples (gripper, SE3, dex bimanual, G1 tri-hand, locomotion, reordering). Retargeter tuning UI with IMGUI for live tuning.
• Camera & recording: Generic Camera Device Plugin interface; Oak-D plugin; MCAP recorder integrated into deviceio session; generic per-frame metadata in camera schema.
• Full body & locomotion: Pico full body tracking schema and testbed; locomotion schema and bindings compatible with Isaac OS Lower Body Controller.
• CloudXR: Runtime updates to 6.1.0 (pid3/pid4/rc2); tensor extension support; streamlined Docker setup and env handling; Quest3 as default device profile.
• Python & packaging: Python 3.10, 3.11, and 3.12 support; PEP 440 versioning; multi-version wheel builds in CI; git commit count in versioning.

New Features

• Retargeting

  • Retargeter type system and interface; port of Isaac Lab retargeters (SE3, gripper, dex, combined).
  • Source nodes and enums for source node identifiers.
  • Examples: controller + SE3, gripper, dex bimanual, G1 tri-hand, locomotion, full bimanual reordering.
  • Retargeter tuning UI (IMGUI) for live tuning.
  • Optional retargeting dependencies in build.

• Camera & device plugins

  • Generic Camera Device Plugin interface; Oak-D camera plugin (DepthAI) for recording.
  • MCAP recorder integrated into deviceio_session with configurable recording path; Python example for session with MCAP recording.
  • Generic per-frame metadata in camera.fbs (#88).
  • hands.fbs for tracking both hands to align with hand tracker logic.

• Full body & locomotion

  • Data schema and bindings for Pico full body tracking.
  • Body tracking testbed for Pico WebXR body tracking extension (cxrjs/bodytracking example).
  • Locomotion schema and bindings compatible with Isaac OS Lower Body Controller operator.

• Session & OpenXR

  • Create OpenXRSessionHandles from Python (#81).
  • Teleop session manager package: helpers, config, and teleop_session_example.
  • Shared core::OpenXRSession reuse across plugins; OpenXR math helpers moved to oxr_utils.
  • CXR tensor extension headers (Generic Tensor Collection / push tensor) for plugins.

• Device I/O & schemas

  • Device output for Generic3AxisPedalOutput (e.g. Logitech-style pedals).
  • Timestamps on device data; controller tracker uses FlatBuffer schema.
  • Tensor and TensorGroup classes with type validation and tests; tensor types for retargeting engine I/O.

• Build & developer experience

  • Devcontainer configuration for Isaac Teleop (#66).
  • Teleop utils for building teleop apps.
  • TELEOPCORE_DISABLE_CXR_ENV_CHECKS to disable CloudXR env checks when needed.

Improvements

• DeviceIO & trackers

  • Tracker creation refactor: initialize → create_tracker; implementations retrieved from session; removed is_initialized() from tracker interfaces (#33, #34).
  • Device plugin reuses controller from deviceio; rate-limited warnings in DeviceIOSession to reduce log spam.
  • deviceio C++ files renamed to snake_case for consistency.

• CloudXR

  • CloudXR env setup: fail early on missing env; use NV_CXR_RUNTIME_DIR (replacing XDG_RUNTIME_DIR where appropriate); ensure OpenXR env vars (XR_RUNTIME_JSON, etc.) are set in oxr_session.
  • CloudXR Docker: run_cloudxr.sh can download Web SDK from NGC, build containers, and start services; cloudxr_image_ops.sh for flexible image load/save/pull with container_tag.
  • Migrated CloudXR JS SDK download from manual PID to NGC CLI; one-time NGC setup documented.
  • README improvements for CXR Runtime setup; HAProxy Dockerfile tidied (permissions).

• Build & CI

  • Hunter cache (.hunter) to improve build speed for OAKD dependencies (#85).
  • ccache (Ubuntu) and sccache (Windows) support (#29).
  • CMake cleanup: redundant checks removed, inc aligned with target names, deviceio_py_utils library (#40).
  • DepthAI/CMake: policy version set for compatibility with CMake ≥ 4.0 (#60).
  • Ubuntu CI uses Ubuntu-22.04; GPU runner for GitHub Actions; native tests run in CI.
  • Publish-wheel job for tagged releases (#70); multi-Python wheel builds (#89).
  • Docker-based test fixture for CloudXR tests (local and CI); run_tests_with_cloudxr.sh improvements and documentation.

• Versioning & deps

  • Single consolidated VERSION file; version includes git commit count (#83); bump to 0.3.x.
  • PEP 440 versioning for alpha, rc, dev, local, and final releases (#87).
  • NumPy 1.22+ (aligned across docs); optional update to 2.4.0 in examples.
  • get_home_dir improved (Windows: USERPROFILE; runtime error instead of /tmp fallback).

• Security & supply chain

  • npm install runs with --ignore-scripts to reduce supply chain risk (#9da1d58).
  • HAProxy config ownership set to root to address security hotspot.

• Oak-D / camera

  • Default size switched to match camera resolution to avoid unnecessary scaling and preserve FOV (#74).

• LeRobot

  • Recorder fixes; dataset written relative to recorder.py location.

• Misc

  • OpenXR SDK compatibility via sanitizers-cmake (#43).
  • Removed internal references (#72); README and doc cleanups.
  • Issue templates updated; unnecessary README sections removed.
  • UV: specify Python version in Dockerfile.test; remove uv.lock files from repo.

Bug Fixes

• Use get_required_extensions correctly for OpenXR.
• Fix typo in load_cloudxr_images.sh.
• Remove duplicate file and ctor definitions from OpenXRSessionHandles; add default initializers (#67).
• LeRobot recorder fixes and path handling.

API / Behavior Changes

• Trackers: initialize() replaced by create_tracker(); is_initialized() removed from tracker interfaces and implementations.
• Versioning: VERSION file consolidated; format follows PEP 440; git commit count used in version string.
• CloudXR: Prefer NV_CXR_RUNTIME_DIR; stricter env checks unless disabled via TELEOPCORE_DISABLE_CXR_ENV_CHECKS.
• Plugin utils: Controllers and session helpers removed from plugin_utils (logic moved/reused in deviceio/plugins where applicable).

Dependencies & Requirements

• Python: 3.10, 3.11, and 3.12 supported.
• NumPy: 1.22 or newer (documented; 2.4.0 used in some examples).
• CloudXR: Runtime 6.1.0 series (pid3, pid4, rc2, or webrtc patch as referenced in commits).
• Build: Ubuntu 22.04 for build-ubuntu workflow; CMake policy compatibility for DepthAI with CMake ≥ 4.0.

Known Limitations / Notes

• Oak-D plugin: Windows build skipped in CI due to ffmpeg-related constraints (see #60).
• CloudXR tests require GPU and optional Docker/CloudXR setup; see run_tests_with_cloudxr.sh and README.

Generated from diff: release/0.2..release/0.3.x (TeleopCore repo).

Overview

This release introduces new features including a device plugin system, data schemas
with FlatBuffer serialization, and major improvements to the hand/head tracking systems. The
codebase has been modernized with C++20 support, improved Python packaging, and better code
quality through clang-format enforcement.

🚀 New Features

Plugin Manager System

• Plugin Manager API - New plugin architecture for discovering and managing external plugin
  binaries with YAML-based metadata configuration
• Plugin health monitoring - Added check_health API that throws PluginCrashException if
  the plugin process crashes
• Manus Glove Plugin - Full integration with Manus SDK for glove-based hand tracking with
  controller pose fusion
• Controller Synthetic Hands Plugin - Generate synthetic hand poses from VR controllers

Schema & Data Serialization

• FlatBuffer-based schemas for efficient data serialization:
  • pose.fbs - Pose representation with position and quaternion
  • tensor.fbs - Tensor message for multi-dimensional data
  • hand.fbs - Hand pose schema with joint data
  • head.fbs - Head tracking schema
• Python bindings for all schemas with comprehensive unit tests
• C++ Object API for working with schema data

Device I/O Module

• Renamed and reorganized xrio module to deviceio for clarity
• Controller Tracker - New tracking support for VR controllers
• Head Tracker - Dedicated head pose tracking component
• Integrated FlatBuffer schemas for head and hand pose data

Examples & Documentation

• LeRobot Example - New example for robot learning data recording and visualization
• Camera Streaming Example - Standalone GStreamer-based camera streaming with OAK-D support
  (host/robot Docker configs)
• Improved README with better setup and build instructions

🔧 Improvements

Build System & Dependencies

• Switched from Git submodules to CMake FetchContent for dependency management
• Upgraded to C++20 to enable designated initializers
• clang-format enforcement in CI for consistent code style
• Improved Python packaging:
  • Locked Python version in pyproject.toml
  • Explicit Python version and ABI in wheel filenames
  • Auto-generated .pyi stub files for Python bindings
• Use mainline yaml-cpp instead of fork

Code Quality

• RAII improvements - Replaced OpenXRHandle with std::unique_ptr
• RAII for XR core functions - Better resource management
• Namespace reorganization - Renamed from oxr to core
• Extensive refactoring of hand tracker and session APIs

CI/CD

• Added clang-format checks to Linux builds
• CI optimizations to avoid exceeding usage limits
• Fixed Python test paths in Ubuntu build workflow

CloudXR Integration

• Enabled push device support in CloudXR container
• Updated web app and WSS proxy Dockerfiles
• Run nginx with non-root user for security
• Fixed HAProxy configuration permissions

⚠️ Breaking Changes

• xrio module renamed to deviceio - update import paths accordingly
• TeleopSession API replaced with DeviceIOSession
• Namespace changed from oxr:: to core:: in C++ code

🙏 Contributors

Thanks to all contributors who made this release possible!