NVIDIA · ivany-nv · Aug 22, 2026 · Aug 22, 2026 · Aug 22, 2026 · Aug 22, 2026
diff --git a/docs/AGENTS.md b/docs/AGENTS.md
@@ -92,9 +92,11 @@ third-party. `partner_grid.PROJECT_REPO` is the one place that boundary is writt
 ## Ecosystem section headings need an explicit target
 
 The count pill is part of the heading text, so the auto-generated slug carries the number:
-`#partners` becomes `#partners-15` and changes whenever a card is added or removed. Every
-section on that page therefore gets a `.. _label:` target, which is what inbound links
-and `#supported-input-devices` rely on. Add one with any new section.
+`#partners` picks up whatever the count currently is and changes whenever a card is
+added or removed — which is exactly why no number is quoted here. Every
+section whose heading carries a count pill therefore gets a `.. _label:` target, which is
+what inbound links and `#supported-input-devices` rely on. Add one with any new counted
+section (`Become a Partner` has no pill and needs none).
 
 ## Never wrap styled layout in `.. container::`
 

diff --git a/docs/source/device/manus.rst b/docs/source/device/manus.rst
@@ -100,9 +100,10 @@ Expected directory layout after placing the SDK:
        main.cpp
      core/
        manus_hand_tracking_plugin.cpp
-     inc/
-       core/
-         manus_hand_tracking_plugin.hpp
+       inc/
+         manus/
+           manus_glove_collection.hpp
+           manus_hand_tracking_plugin.hpp
      tools/
        manus_hand_tracker_printer.cpp
      ManusSDK/        <-- placed here

diff --git a/docs/source/device/trackers.rst b/docs/source/device/trackers.rst
@@ -179,7 +179,7 @@ HeadTracker
 Tracks the HMD head pose via the OpenXR view space.
 
 - Schema: :code-file:`src/core/schema/fbs/head.fbs`
-- C++ header: ``#include <deviceio/head_tracker.hpp>``
+- C++ header: ``#include <deviceio_trackers/head_tracker.hpp>``
 - Python import: ``from isaacteleop.deviceio import HeadTracker``
 - Record channels: ``head`` | MCAP schema: ``core.HeadPoseRecord``
 - Tests:
@@ -199,7 +199,7 @@ Tracks articulated hand joints (26 joints per hand, following the OpenXR
 ``XrHandJointEXT`` ordering) using the ``XR_EXT_hand_tracking`` extension.
 
 - Schema: :code-file:`src/core/schema/fbs/hand.fbs`
-- C++ header: ``#include <deviceio/hand_tracker.hpp>``
+- C++ header: ``#include <deviceio_trackers/hand_tracker.hpp>``
 - Python import: ``from isaacteleop.deviceio import HandTracker``
 - Record channels: ``left_hand``, ``right_hand`` | MCAP schema: ``core.HandPoseRecord``
 - Tests:
@@ -221,7 +221,7 @@ Tracks both left and right controllers -- grip and aim poses, plus button and
 axis inputs. Uses standard OpenXR action bindings.
 
 - Schema: :code-file:`src/core/schema/fbs/controller.fbs`
-- C++ header: ``#include <deviceio/controller_tracker.hpp>``
+- C++ header: ``#include <deviceio_trackers/controller_tracker.hpp>``
 - Python import: ``from isaacteleop.deviceio import ControllerTracker``
 - Record channels: ``left_controller``, ``right_controller`` | MCAP schema: ``core.ControllerSnapshotRecord``
 - Tests:
@@ -301,9 +301,9 @@ collections. Uses the :code-file:`SchemaTracker <src/core/live_trackers/cpp/inc/
 utility internally.
 
 - Schema: :code-file:`src/core/schema/fbs/pedals.fbs`
-- C++ header: ``#include <deviceio/generic_3axis_pedal_tracker.hpp>``
+- C++ header: ``#include <deviceio_trackers/generic_3axis_pedal_tracker.hpp>``
 - Python import: ``from isaacteleop.deviceio import Generic3AxisPedalTracker``
-- Record channels: ``pedals`` | MCAP schema: ``core.Generic3AxisPedalOutputRecord``
+- Record channels: ``pedals``, ``pedals_tracked`` | MCAP schema: ``core.Generic3AxisPedalOutputRecord``
 - Tests:
 
   - :code-file:`tests/cpp/core/schema/test_pedals.cpp`

diff --git a/docs/source/getting_started/teleop_session.rst b/docs/source/getting_started/teleop_session.rst
@@ -444,7 +444,7 @@ Examples
 Complete Examples
 ^^^^^^^^^^^^^^^^^
 
-#. **Simplified Gripper Example**: ``examples/retargeting/python/gripper_retargeting_simple.py``
+#. **Simplified Gripper Example**: ``examples/teleop/python/gripper_retargeting_example_simple.py``
    -- Shows the minimal configuration approach and demonstrates auto-creation
    of input sources.
 
@@ -462,7 +462,7 @@ Before vs After
    required_extensions = deviceio.DeviceIOSession.get_required_extensions([controller_tracker])
 
    # Create OpenXR session
-   oxr_session = oxr.OpenXRSession.create("MyApp", required_extensions)
+   oxr_session = oxr.OpenXRSession("MyApp", required_extensions)
    oxr_session.__enter__()
 
    # Create DeviceIO session

diff --git a/docs/source/overview/ecosystem.rst b/docs/source/overview/ecosystem.rst
@@ -34,8 +34,8 @@ acquisition channel.
 Built and used inside NVIDIA
 
 .. Explicit targets on every section below: the count pill is part of the heading text,
-   so without them the slug carries the count and #partners becomes #partners-15,
-   changing every time a card is added or removed.
+   so without them the slug carries the count and #partners picks up whatever that count
+   currently is, changing every time a card is added or removed.
 
 .. _nvidia-platforms:
 

diff --git a/docs/source/references/build.rst b/docs/source/references/build.rst
@@ -52,7 +52,7 @@ The layout below reflects the actual ``CMakeLists.txt`` hierarchy (root ``CMakeL
 CMake integration
 -----------------
 
-The project uses a modern CMake target-based approach. Libraries export targets (e.g. OXR, DEVICEIO, schema); include directories are propagated. Package config files are generated for use after install. See the respective ``CMakeLists.txt`` in ``src/core`` and under ``examples/`` for target names and usage.
+The project uses a modern CMake target-based approach. Libraries export namespaced alias targets (e.g. ``oxr::oxr_core``, ``deviceio::deviceio_session``, ``isaacteleop_schema``); include directories are propagated. Package config files are generated for use after install. See the respective ``CMakeLists.txt`` in ``src/core`` and under ``examples/`` for target names and usage.
 
 Using the Python wheel
 ----------------------

diff --git a/docs/source/references/retargeting/index.rst b/docs/source/references/retargeting/index.rst
@@ -356,7 +356,8 @@ If the built-in retargeters do not cover your use case, you can implement a cust
 `Isaac Teleop repository <https://github.com/NVIDIA/IsaacTeleop>`_:
 
 #. Inherit from ``BaseRetargeter`` and implement ``input_spec()``, ``output_spec()``, and
-   ``compute()``.
+   ``_compute_fn()``. (``compute()`` is concrete on the base class — it fills optional inputs
+   and syncs parameters, then calls your ``_compute_fn()``.)
 #. Optionally add a ``ParameterState`` for parameters that should be live-tunable via the
    retargeter tuning UI.
 #. Connect to existing source nodes (``HandsSource``, ``ControllersSource``) or create a new

diff --git a/src/core/AGENTS.md b/src/core/AGENTS.md
@@ -18,7 +18,7 @@ If work under **`src/core/`** went wrong—**user** correction, **pre-commit/CI*
 - When changing `TeleopSession` retargeting execution defaults, update config, docs, and default-behavior tests together so opt-in vs. default semantics stay aligned.
 - Preserve existing `TeleopSession` lifecycle flag semantics unless changing the public/context-manager contract intentionally; use tests to lock down cleanup details before altering them.
 - After Python test or session-manager edits, let `ruff format`/pre-commit own wrapping and rerun the hook when it modifies files.
-- **`IDeviceIOSource` leaves are only discovered when reachable from a declared `OutputCombiner` output.** `TeleopSession._discover_sources` calls `pipeline.get_leaf_nodes()`, which walks back from the combiner's outputs. An input *source* whose only purpose is a side effect (e.g. message-channel send) must therefore expose at least one output (a heartbeat boolean is the established pattern) **and** the user's combiner must include it; silent no-discovery is the recurring footgun. **Output `IDeviceIOSink` nodes are different:** they are registered via `TeleopSessionConfig(sinks=[...])` and the session runs and flushes them explicitly each frame, so a sink needs no heartbeat output and no `OutputCombiner` reachability.
+- **`IDeviceIOSource` leaves are only discovered when reachable from a declared graph root** — the `pipeline` combiner's outputs, the `teleop_control_pipeline`, or a subgraph registered in `TeleopSessionConfig(sinks=[...])`. `TeleopSession._discover_sources` unions the leaves of all three. An input *source* whose only purpose is a side effect (e.g. message-channel send) must therefore expose at least one output (a heartbeat boolean is the established pattern) **and** be reachable from one of those roots; silent no-discovery is the recurring footgun. **Output `IDeviceIOSink` nodes are different:** they are registered via `TeleopSessionConfig(sinks=[...])` and the session runs and flushes them explicitly each frame, so a sink needs no heartbeat output and no `OutputCombiner` reachability.
 - **Run `clang-format` on touched C++ before pushing** — CI rejects unformatted C++ and pre-commit does not catch it. See the formatting instructions in the repo root [`AGENTS.md`](../../AGENTS.md) ("Pre-commit — match CI before you stop") for the exact commands; the source of truth lives there, not here.
 - **Authored `.py` under `src/python/isaacteleop/` carries no build-system registration.** The `CONFIGURE_DEPENDS` glob in ``src/python/CMakeLists.txt`` stages every `.py` there and `[tool.setuptools.packages.find]` discovers the packages, so a subpackage is a directory with an `__init__.py` and nothing else — no packages list, no `DEPENDS` entry. Targets that *produce* files in the staging tree (pybind ``.so``/``.pyd``, ``isaacteleop_python`` copies, ``stage_generated_tracker_exports``, ``viz_py``, vendored runtimes, …) must be **dependencies of** ``python_package`` (``DEPENDS`` / ``add_dependencies(python_package …)`` in ``src/core/python/CMakeLists.txt``), not the other way around — otherwise Windows ninja races the wheel build and setuptools fails with ``error: package directory 'isaacteleop\\<name>' does not exist``. **``python_package`` waits for ``viz_py`` when ``BUILD_VIZ=ON``** (``.pyd`` link race). **Central stubgen** in ``src/core/python/CMakeLists.txt`` (not a ``viz_py`` POST_BUILD) DEPENDS on ``python_package``, so ``stage_generated_tracker_exports`` must stay on ``python_package``'s DEPENDS — otherwise stubbing ``isaacteleop.viz._viz`` (or any module that loads ``isaacteleop/__init__.py``) fails on the missing export. **For ``pip install -e .`` (scikit-build-core), ``_generated_tracker_exports.py`` must also be ``install(FILES ...)`` under ``isaacteleop_wheel``** — the directory install excludes ``*.py`` so authored sources stay redirect-resolved, but that module is not under ``src/python/``.
 - **Schema-based tracker sources exist only in a configured build tree.** They are generated at CMake *configure* time from `deviceio_trackers/trackers.toml` into `${CMAKE_BINARY_DIR}/generated/trackers/`, so grepping `src/` for a tracker such as `Se3Tracker` finds the manifest entry and the generator, not a `.cpp`. Searching, debugging, and clangd all need `cmake -B build` to have run first (already true for the `flatc` output). See [`deviceio_trackers/AGENTS.md`](deviceio_trackers/AGENTS.md) and [`codegen/AGENTS.md`](codegen/AGENTS.md) before adding or editing a tracker.

diff --git a/src/core/deviceio_trackers/AGENTS.md b/src/core/deviceio_trackers/AGENTS.md
@@ -17,7 +17,9 @@ in **[`trackers.toml`](trackers.toml)** and generated at configure time by
 under `${CMAKE_BINARY_DIR}/generated/trackers/`, **not** in `cpp/`.
 
 - **Adding one is a manifest edit**, not a new source file: `name` and `table` are required, every
-  other key has a `%placeholder%` default in [`defaults.toml`](defaults.toml). Override a key only
+  other key has a default in [`defaults.toml`](defaults.toml) — most derive from `name` through
+  `%placeholder%` substitution, a few (`direction`, `record`, `max_flatbuffer_size`, …) are plain
+  constants. Override a key only
   where the convention genuinely does not hold (`se3_tracker` sets `class`; `generic_3axis_pedal`
   sets `schema` because its `.fbs` is `pedals.fbs`; `frame_metadata_oak` sets `header` so the
   public `#include` stem stays `frame_metadata_tracker_oak`).
@@ -27,7 +29,7 @@ under `${CMAKE_BINARY_DIR}/generated/trackers/`, **not** in `cpp/`.
   blocks, MCAP recording traits, and the Python `__all__` are emitted as `.inc` fragments that the
   hand-written files `#include`; adding a row yourself produces a duplicate definition.
 - **`__init__.py` needs no edit for new manifest trackers.**
-  [`../../../python/isaacteleop/deviceio_trackers/__init__.py`](../../../python/isaacteleop/deviceio_trackers/__init__.py)
+  [`../../python/isaacteleop/deviceio_trackers/__init__.py`](../../python/isaacteleop/deviceio_trackers/__init__.py)
   star-imports `_generated_tracker_exports` (staged from configure-time codegen into the wheel
   tree; for scikit-build-core / editable installs it is also installed via ``isaacteleop_wheel``
   because it is not authored under ``src/python/``) and splices its ``__all__``. The legacy `isaacteleop.deviceio` shim is a **frozen** compat

diff --git a/src/core/replay_trackers/AGENTS.md b/src/core/replay_trackers/AGENTS.md
@@ -12,8 +12,8 @@ SPDX-License-Identifier: Apache-2.0
 Replay impls for trackers declared in
 [`../deviceio_trackers/trackers.toml`](../deviceio_trackers/trackers.toml) are emitted into
 `${CMAKE_BINARY_DIR}/generated/trackers/replay_trackers/`. Only the hand-written trackers
-(`head`, `hand`, `controller`, `full_body`, `message_channel`, `TensorPushTracker`) have `.cpp`
-files in this directory.
+(`head`, `hand`, `controller`, `full_body`, `message_channel`, `haptic_command_reader`,
+`TensorPushTracker`) have `.cpp` files in this directory.
 
 - `replay_deviceio_factory.{hpp,cpp}` stays hand-written but `#include`s generated `.inc` fragments
   for the manifest trackers' forward decls, try-create thunks, dispatch rows, and factory methods.