NVIDIA/IsaacTeleop v1.0.191

Release 1.0.191

Repository: NVIDIA/IsaacTeleop

Tag: v1.0.191

Published: 2026-03-16T18:18:47Z

Prerelease: no

Release notes:

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.

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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.

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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.

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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.

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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.

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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.

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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`…