diff --git a/.gitattributes b/.gitattributes
index eb1f41580..b92c87a4a 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -11,3 +11,8 @@
 #
 # Exceptions for small source SVGs (webpack-inlined; not binary assets).
 deps/cloudxr/webxr_client/src/icons/*.svg -filter -diff -merge text
+
+*.usd filter=lfs diff=lfs merge=lfs -text
+*.usda filter=lfs diff=lfs merge=lfs -text
+*.stl filter=lfs diff=lfs merge=lfs -text
+*.STL filter=lfs diff=lfs merge=lfs -text
diff --git a/.gitignore b/.gitignore
index 7785ebe1e..3eac121e8 100644
--- a/.gitignore
+++ b/.gitignore
@@ -21,6 +21,7 @@ __pycache__/
 *.pyd
 # Python virtual environments
 .venv/
+.venv-isaacteleop/
 venv/
 **/.venv/
 **/venv/
@@ -64,3 +65,17 @@ deps/v2d/wheels/
 
 # Runtime device files injected by MCP server infrastructure
 .mcp.json
+
+apv_wuji
+avp_ee_hand.md
+cmd
+AGENTS.md
+custom.env
+web.env
+example_demo
+build-local/
+deps/cloudxr/webxr_client/helpers/react/CloudXRComponent.tsx
+deps/cloudxr/webxr_client/src/App.tsx
+deps/cloudxr/webxr_client/src/CloudXRUI.tsx
+examples/teleop/CMakeLists.txt
+examples/teleop/python/pyproject.toml
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 000000000..b9e0ea59b
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "wuji-retargeting"]
+	path = third_party/wuji-retargeting
+	url = https://github.com/wuji-technology/wuji-retargeting.git
diff --git a/AGENTS.md b/AGENTS.md
index fd71ba39a..4f2000142 100644
--- a/AGENTS.md
+++ b/AGENTS.md
@@ -89,6 +89,7 @@ only point here — edit the rules in the doc, not the shims.
   ```
 
 - If a hook failure shows **missing or non-obvious repo policy** (not a one-off typo), you **must** add a **short** reminder under **Mandatory learning loop** rules to the right `AGENTS.md` or adjacent **`//` comments** so the next run does not repeat it—unless it is already documented.
+- If `pre-commit` is unavailable in the active environment, report the exact blocker and any narrower checks that did run; do not describe the pre-commit gate as passed.
 
 ## Mandatory learning loop (AGENTS.md and comments)
 
@@ -110,6 +111,8 @@ only point here — edit the rules in the doc, not the shims.
 
 - **High-level** expectations: boundaries between layers, what to avoid, naming or structural conventions, CMake/include policy at a glance, “always / never” rules that stay true across refactors.
 - **Style of work**: how minimal to keep diffs, when to ask for clarification, how this subsystem should relate to OpenXR/schema/deviceio, etc.
+- For onboarding-oriented shell helpers, keep the flow as a short step-by-step runbook and make separate Python environment responsibilities explicit instead of mixing them into one opaque setup path.
+- For shell-script comments meant for humans to follow, prefer short numbered Chinese step comments that mirror repo runbooks (for example the root `cmd` note) over scattered low-level inline commentary.
 - For build-only requests, use the documented CMake flags and environment first (for example `-DISAAC_TELEOP_PYTHON_VERSION=...`) rather than patching build files to select options.
 
 **What does *not* belong in `AGENTS.md`**
diff --git a/REUSE.toml b/REUSE.toml
index c8040799d..1d5711404 100644
--- a/REUSE.toml
+++ b/REUSE.toml
@@ -35,3 +35,13 @@ path = ".cursor/**"
 precedence = "override"
 SPDX-FileCopyrightText = "Copyright (c) NVIDIA CORPORATION & AFFILIATES. All rights reserved."
 SPDX-License-Identifier = "Apache-2.0"
+
+[[annotations]]
+path = [
+  "examples/g1_wuji_teleop/assets/g1_wuji/**",
+  "examples/g1_wuji_teleop/assets/wuji_hand/**",
+  "examples/teleop/python/assets/wuji_hand/**",
+]
+precedence = "override"
+SPDX-FileCopyrightText = "Copyright (c) NVIDIA CORPORATION & AFFILIATES. All rights reserved."
+SPDX-License-Identifier = "Apache-2.0"
diff --git a/avp_manus.sh b/avp_manus.sh
new file mode 100755
index 000000000..aa0eaa423
--- /dev/null
+++ b/avp_manus.sh
@@ -0,0 +1,173 @@
+#!/usr/bin/env bash
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# IsaacTeleop AVP + MANUS + G1-Wuji demo runbook
+#
+# Notes:
+# 1. This file is a step-by-step command guide. Do not execute it end to end
+#    with `bash avp_manus.sh`.
+# 2. A working team Isaac Lab environment is assumed. Isaac Lab installation
+#    steps are intentionally omitted here.
+# 3. This demo defaults to `examples/g1_wuji_teleop/config/avp_manus.yml`.
+#    It uses `retargeting.method=official_wuji`, so the
+#    `third_party/wuji-retargeting` submodule must be initialized first.
+# 4. The commands below assume Python 3.12. The Python major/minor version used
+#    to build `isaacteleop` must match the Python version in your Isaac Lab
+#    environment. If your Isaac Lab is not using 3.12, update the `3.12`
+#    references below accordingly.
+#
+# -----------------------------------------------------------------------------
+# 0. Enter the repository root
+# -----------------------------------------------------------------------------
+
+cd /path/to/IsaacTeleop
+
+# -----------------------------------------------------------------------------
+# 1. Install Ubuntu system dependencies
+# -----------------------------------------------------------------------------
+
+sudo apt-get update
+sudo apt-get install -y \
+    build-essential \
+    cmake \
+    clang-format-14 \
+    ccache \
+    patchelf \
+    curl \
+    git \
+    unzip \
+    usbutils \
+    android-tools-adb \
+    coturn \
+    libx11-dev \
+    libssl-dev \
+    zlib1g-dev \
+    libc-ares-dev \
+    libzmq3-dev \
+    libncurses-dev \
+    libudev-dev \
+    libusb-1.0-0-dev \
+    libvulkan-dev \
+    glslang-tools \
+    libxrandr-dev \
+    libxinerama-dev \
+    libxcursor-dev \
+    libxi-dev \
+    libxext-dev \
+    libxkbcommon-dev \
+    libwayland-dev \
+    wayland-protocols
+
+# -----------------------------------------------------------------------------
+# 2. Create and activate the `isaacteleop` conda environment
+# -----------------------------------------------------------------------------
+
+conda create -n isaacteleop python=3.12 -y
+conda activate isaacteleop
+# From PyPI
+pip install 'isaacteleop[cloudxr,retargeters]~=1.0.0' --extra-index-url https://pypi.nvidia.com
+# python -m pip install --upgrade pip
+# python -m pip install uv pre-commit
+
+# -----------------------------------------------------------------------------
+# 3. Build IsaacTeleop from source and install the wheel into the `isaacteleop`
+#    conda environment
+# -----------------------------------------------------------------------------
+
+cd /path/to/IsaacTeleop
+
+cmake -S . -B build \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DISAAC_TELEOP_PYTHON_VERSION=3.12 \
+    -DBUILD_VIZ=OFF \
+    -DBUILD_PLUGIN_OAK_CAMERA=OFF \
+    -DENABLE_CLANG_FORMAT_CHECK=OFF
+
+cmake --build build --parallel "$(nproc)"
+cmake --install build
+
+python -m pip install -r /path/to/IsaacTeleop/src/core/python/requirements-retargeters.txt
+python -m pip install -r /path/to/IsaacTeleop/src/core/python/requirements-cloudxr.txt
+python -m pip install --force-reinstall /path/to/IsaacTeleop/install/wheels/isaacteleop-*.whl
+
+python -c "import isaacteleop, isaacteleop.cloudxr, isaacteleop.retargeters; print(isaacteleop.__file__)"
+
+# -----------------------------------------------------------------------------
+# 4. Pull the wuji official wuji-retargeting
+# -----------------------------------------------------------------------------
+cd /path/to/IsaacTeleop
+git submodule update --init --recursive third_party/wuji-retargeting
+
+# -----------------------------------------------------------------------------
+# 5. Install MANUS host permissions and the SDK / plugin
+# -----------------------------------------------------------------------------
+
+cd /path/to/IsaacTeleop/src/plugins/manus
+
+# 5.1 This step must run on the host, not inside a container
+./install_udev_rules.sh
+
+# 5.2 Unplug and replug the MANUS dongle
+
+# 5.3 Download the MANUS SDK, then build and install the plugin
+./install_manus.sh
+
+cd /path/to/IsaacTeleop
+ls -l install/plugins/manus/
+ls -l install/bin/manus_hand_tracker_printer
+
+# -----------------------------------------------------------------------------
+# 6. Open the ports required for AVP to connect to CloudXR
+# -----------------------------------------------------------------------------
+
+sudo ufw allow 48010,48322/tcp
+sudo ufw allow 47998:48000,48005,48008,48012/udp
+
+# -----------------------------------------------------------------------------
+# 7. Terminal A: start the CloudXR runtime
+# -----------------------------------------------------------------------------
+
+cd /path/to/IsaacTeleop
+conda activate isaacteleop
+
+echo 'NV_DEVICE_PROFILE=auto-native' > custom.env
+python -m isaacteleop.cloudxr --cloudxr-env-config=./custom.env --accept-eula
+
+# Keep terminal A running.
+
+# -----------------------------------------------------------------------------
+# 8. Check the local IP address and connect from the AVP device
+# -----------------------------------------------------------------------------
+
+
+# Manual steps on the AVP side:
+# 1. Open Isaac XR Teleop Sample Client (version 3.0.0 or newer).
+# 2. Enter the Ubuntu LAN IP address found above.
+# 3. Connect and keep the session alive.
+
+# -----------------------------------------------------------------------------
+# 9. Terminal B: load the CloudXR environment and verify MANUS data first
+# -----------------------------------------------------------------------------
+
+cd /path/to/IsaacTeleop
+source ~/.cloudxr/run/cloudxr.env
+
+./install/bin/manus_hand_tracker_printer
+
+# Once hand data and the visualization window are updating correctly, close
+# `manus_hand_tracker_printer`.
+# Note: the MANUS SDK can only be owned by one process at a time, so the
+# printer must be closed before starting the main demo.
+
+# -----------------------------------------------------------------------------
+# 10. Terminal C: run the final demo
+# -----------------------------------------------------------------------------
+
+cd /path/to/IsaacTeleop
+source ~/.cloudxr/run/cloudxr.env
+conda activate isaacteleop
+python examples/g1_wuji_teleop/scripts/g1_wuji_teleop_main.py \
+    --config /examples/g1_wuji_teleop/config/avp_manus.yml \
+    --device cuda:0 \
+    --viz kit
diff --git a/deps/cloudxr/webxr_client/helpers/react/CloudXRComponent.tsx b/deps/cloudxr/webxr_client/helpers/react/CloudXRComponent.tsx
index 6b9eea500..ed5878364 100644
--- a/deps/cloudxr/webxr_client/helpers/react/CloudXRComponent.tsx
+++ b/deps/cloudxr/webxr_client/helpers/react/CloudXRComponent.tsx
@@ -43,6 +43,258 @@ import { useXR } from '@react-three/xr';
 import { useRef, useEffect } from 'react';
 import type { WebGLRenderer } from 'three';
 
+const AVP_CONTROLLER_SHIM_QUERY_PARAM = 'avpControllerShim';
+const AVP_CONTROLLER_SHIM_INSTALLED = '__isaacTeleopAvpControllerShimInstalled';
+const AVP_CONTROLLER_SHIMMED_SOURCE = '__isaacTeleopAvpControllerShim';
+const AVP_CONTROLLER_SHIM_RAW_SOURCE = '__isaacTeleopAvpControllerShimRawSource';
+const AVP_CONTROLLER_SHIM_SPACE_SOURCE = '__isaacTeleopAvpControllerShimSpaceSource';
+
+function shouldEnableAvpControllerShim(): boolean {
+  const value = new URLSearchParams(window.location.search).get(AVP_CONTROLLER_SHIM_QUERY_PARAM);
+  return value === '1' || value?.toLowerCase() === 'true';
+}
+
+function makeSyntheticGamepad(handedness: XRHandedness): Gamepad {
+  const button = (): GamepadButton =>
+    ({
+      pressed: false,
+      touched: false,
+      value: 0,
+    }) as GamepadButton;
+
+  return {
+    id: `avp-webxr-${handedness || 'none'}-synthetic-controller`,
+    index: handedness === 'left' ? 0 : handedness === 'right' ? 1 : -1,
+    connected: true,
+    timestamp: performance.now(),
+    mapping: 'xr-standard',
+    buttons: Array.from({ length: 13 }, button),
+    axes: [0, 0, 0, 0],
+    hapticActuators: [],
+  } as unknown as Gamepad;
+}
+
+function getFallbackHandSpace(inputSource: XRInputSource): XRSpace | undefined {
+  const hand = inputSource.hand;
+  if (!hand) {
+    return undefined;
+  }
+
+  return (
+    hand.get('wrist' as XRHandJoint) ??
+    hand.get('palm' as XRHandJoint) ??
+    hand.get('index-finger-metacarpal' as XRHandJoint)
+  );
+}
+
+function getFallbackControllerSpace(inputSource: XRInputSource): XRSpace | undefined {
+  return inputSource.gripSpace ?? inputSource.targetRaySpace ?? getFallbackHandSpace(inputSource);
+}
+
+function shouldShimInputSource(inputSource: XRInputSource): boolean {
+  return (
+    (inputSource.handedness === 'left' || inputSource.handedness === 'right') &&
+    !inputSource.gamepad &&
+    !!getFallbackControllerSpace(inputSource)
+  );
+}
+
+function findInputSourcesDescriptor(
+  xrSession: XRSession
+): PropertyDescriptor | undefined {
+  let owner: object | null = xrSession;
+  while (owner) {
+    const descriptor = Object.getOwnPropertyDescriptor(owner, 'inputSources');
+    if (descriptor) {
+      return descriptor;
+    }
+    owner = Object.getPrototypeOf(owner);
+  }
+  return undefined;
+}
+
+function installAvpControllerInputShim(xrSession: XRSession): boolean {
+  const sessionWithMarker = xrSession as XRSession & Record<string, unknown>;
+  if (sessionWithMarker[AVP_CONTROLLER_SHIM_INSTALLED]) {
+    return true;
+  }
+
+  const descriptor = findInputSourcesDescriptor(xrSession);
+  const originalGetter = descriptor?.get?.bind(xrSession);
+  const originalValue = descriptor && 'value' in descriptor ? descriptor.value : undefined;
+  const shimmedSources = new WeakMap<XRInputSource, XRInputSource>();
+
+  const readOriginalInputSources = (): XRInputSource[] => {
+    const sources = originalGetter ? originalGetter() : (originalValue ?? []);
+    const trackedSources = sessionWithMarker.trackedSources as Iterable<XRInputSource> | undefined;
+    const mergedSources = [
+      ...Array.from(sources as Iterable<XRInputSource>),
+      ...(trackedSources ? Array.from(trackedSources) : []),
+    ];
+
+    return Array.from(new Set(mergedSources));
+  };
+
+  const getShimmedSource = (inputSource: XRInputSource): XRInputSource => {
+    const existing = shimmedSources.get(inputSource);
+    if (existing) {
+      return existing;
+    }
+
+    const syntheticGamepad = makeSyntheticGamepad(inputSource.handedness);
+    const proxy = new Proxy(inputSource as XRInputSource & Record<string | symbol, unknown>, {
+      get(target, prop) {
+        if (prop === AVP_CONTROLLER_SHIMMED_SOURCE) {
+          return true;
+        }
+        if (prop === AVP_CONTROLLER_SHIM_RAW_SOURCE) {
+          return target;
+        }
+        if (prop === AVP_CONTROLLER_SHIM_SPACE_SOURCE) {
+          return getFallbackHandSpace(target) ? 'hand-wrist' : 'native';
+        }
+        if (prop === 'gamepad') {
+          return syntheticGamepad;
+        }
+        if (prop === 'hand') {
+          return undefined;
+        }
+        if (prop === 'gripSpace') {
+          return getFallbackControllerSpace(target);
+        }
+        if (prop === 'targetRaySpace') {
+          return target.targetRaySpace ?? getFallbackControllerSpace(target);
+        }
+        if (prop === 'targetRayMode') {
+          return target.targetRayMode === 'tracked-pointer'
+            ? target.targetRayMode
+            : 'tracked-pointer';
+        }
+        if (prop === 'profiles') {
+          const profiles = Reflect.get(target, prop, target) as string[];
+          return profiles.includes('generic-trigger-squeeze-thumbstick')
+            ? profiles
+            : ['generic-trigger-squeeze-thumbstick', ...profiles];
+        }
+        return Reflect.get(target, prop, target);
+      },
+    }) as XRInputSource;
+
+    shimmedSources.set(inputSource, proxy);
+    return proxy;
+  };
+
+  try {
+    Object.defineProperty(xrSession, 'inputSources', {
+      configurable: true,
+      enumerable: descriptor?.enumerable ?? true,
+      get: () =>
+        readOriginalInputSources().map(inputSource =>
+          shouldShimInputSource(inputSource) ? getShimmedSource(inputSource) : inputSource
+        ),
+    });
+    sessionWithMarker[AVP_CONTROLLER_SHIM_INSTALLED] = true;
+    console.info('[CloudXR WebXR input] AVP controller shim installed');
+    return true;
+  } catch (error) {
+    console.warn('[CloudXR WebXR input] Failed to install AVP controller shim:', error);
+    return false;
+  }
+}
+
+function getPoseAvailability(
+  xrFrame: XRFrame,
+  space: XRSpace | undefined,
+  referenceSpace: XRReferenceSpace | null
+): string {
+  if (!space || !referenceSpace) {
+    return '0/0';
+  }
+  try {
+    return xrFrame.getPose(space, referenceSpace) ? '1/1' : '1/0';
+  } catch {
+    return '1/err';
+  }
+}
+
+function summarizeInputSources(
+  inputSources: XRInputSource[],
+  xrFrame: XRFrame,
+  referenceSpace: XRReferenceSpace | null
+): string {
+  const frameSession = xrFrame.session as XRSession & Record<string, unknown>;
+  const enabledFeatures = Array.isArray(frameSession.enabledFeatures)
+    ? (frameSession.enabledFeatures as string[])
+    : [];
+  const trackedSources = frameSession.trackedSources as Iterable<XRInputSource> | undefined;
+  const prefix = [
+    `features=${enabledFeatures.length ? enabledFeatures.join('+') : 'none'}`,
+    `primary=${Array.from(frameSession.inputSources ?? []).length}`,
+    `tracked=${trackedSources ? Array.from(trackedSources).length : 0}`,
+  ].join(' ');
+
+  if (inputSources.length === 0) {
+    return `${prefix} | none`;
+  }
+
+  return `${prefix} | ${inputSources
+    .map(inputSource => {
+        const rawInputSource =
+          ((inputSource as unknown as Record<string, unknown>)[
+            AVP_CONTROLLER_SHIM_RAW_SOURCE
+          ] as XRInputSource | undefined) ?? inputSource;
+        const hand = inputSource.hand;
+        const gamepad = inputSource.gamepad;
+        const rawHand = rawInputSource.hand;
+        const handedness =
+          inputSource.handedness === 'left'
+            ? 'L'
+            : inputSource.handedness === 'right'
+              ? 'R'
+              : 'N';
+        let joints = 0;
+        if (rawHand && referenceSpace) {
+          for (const jointSpace of rawHand.values()) {
+            try {
+              if (jointSpace && xrFrame.getJointPose(jointSpace, referenceSpace)) {
+                joints += 1;
+              }
+            } catch {
+              // Keep the summary useful even if one joint is unavailable for this frame.
+            }
+          }
+        }
+
+        const profiles = inputSource.profiles.length ? inputSource.profiles.join('+') : 'none';
+        const sdkControllerCandidate = gamepad && !hand;
+        const buttons = gamepad?.buttons?.length ?? 0;
+        const axes = gamepad?.axes?.length ?? 0;
+        const shimmed = (inputSource as unknown as Record<string, unknown>)[
+          AVP_CONTROLLER_SHIMMED_SOURCE
+        ];
+        const shimSpace = (inputSource as unknown as Record<string, unknown>)[
+          AVP_CONTROLLER_SHIM_SPACE_SOURCE
+        ];
+
+        return [
+          `${handedness}:${inputSource.targetRayMode}`,
+          `prof=${profiles}`,
+          `hand=${hand ? 1 : 0}`,
+          `rawHand=${rawHand ? 1 : 0}`,
+          `j=${joints}`,
+          `gp=${gamepad ? 1 : 0}`,
+          `btn=${buttons}`,
+          `axes=${axes}`,
+          `grip=${getPoseAvailability(xrFrame, inputSource.gripSpace, referenceSpace)}`,
+          `aim=${getPoseAvailability(xrFrame, inputSource.targetRaySpace, referenceSpace)}`,
+          `shim=${shimmed ? 1 : 0}`,
+          `shimSpace=${shimSpace ?? 'none'}`,
+          `sdkCtrl=${sdkControllerCandidate ? 1 : 0}`,
+        ].join(' ');
+      })
+      .join(' | ')}`;
+}
+
 /**
  * Props for the CloudXRComponent.
  */
@@ -77,6 +329,9 @@ interface CloudXRComponentProps {
   /** Callback fired with streaming performance metrics. Receives rolling averages of streaming FPS and pose-to-render latency (ms). */
   onStreamingPerformanceMetrics?: (streamingFps: number, poseToRenderMs: number) => void;
 
+  /** Callback fired with WebXR input source diagnostics visible in the in-XR panel. */
+  onInputSourcesDebug?: (summary: string) => void;
+
   /**
    * Settings for the performance metrics reported via onRenderPerformanceMetrics and onStreamingPerformanceMetrics callbacks.
    * Each window size controls how many samples are averaged before reporting.
@@ -113,6 +368,7 @@ export default function CloudXRComponent({
   onServerAddress,
   onRenderPerformanceMetrics,
   onStreamingPerformanceMetrics,
+  onInputSourcesDebug,
   metricsSettings = {},
   headless = false,
   iceServers,
@@ -122,6 +378,8 @@ export default function CloudXRComponent({
   // React reference to the CloudXR session that persists across re-renders.
   const cxrSessionRef = useRef<CloudXR.Session | null>(null);
   const onExitImmersiveXRRef = useRef(onExitImmersiveXR);
+  const lastInputDebugTimeRef = useRef(0);
+  const lastInputDebugSummaryRef = useRef('');
   onExitImmersiveXRRef.current = onExitImmersiveXR;
 
   // Metrics trackers for averaging performance metrics
@@ -158,6 +416,10 @@ export default function CloudXRComponent({
             ? (webXRManager as any).getSession()
             : null;
           if (xrSession) {
+            if (shouldEnableAvpControllerShim()) {
+              installAvpControllerInputShim(xrSession);
+            }
+
             if (config.referenceSpaceType === 'auto') {
               const fallbacks: XRReferenceSpaceType[] = [
                 'local-floor',
@@ -400,6 +662,22 @@ export default function CloudXRComponent({
       if (xrFrame) {
         // Get THREE WebXRManager from the useFrame state.
         const webXRManager = state.gl.xr;
+        const timestamp: DOMHighResTimeStamp = state.clock.elapsedTime * 1000;
+
+        if (onInputSourcesDebug && timestamp - lastInputDebugTimeRef.current > 500) {
+          const referenceSpace = webXRManager.getReferenceSpace();
+          const summary = summarizeInputSources(
+            Array.from(session.inputSources),
+            xrFrame,
+            referenceSpace
+          );
+          onInputSourcesDebug?.(summary);
+          if (summary !== lastInputDebugSummaryRef.current) {
+            console.info(`[CloudXR WebXR input] ${summary}`);
+            lastInputDebugSummaryRef.current = summary;
+          }
+          lastInputDebugTimeRef.current = timestamp;
+        }
 
         if (!cxrSessionRef || !cxrSessionRef.current) {
           console.debug('Skipping frame, no session yet');
@@ -423,9 +701,6 @@ export default function CloudXRComponent({
           return;
         }
 
-        // Get timestamp from useFrame state and convert to milliseconds.
-        const timestamp: DOMHighResTimeStamp = state.clock.elapsedTime * 1000;
-
         try {
           // Send the tracking state (including viewer pose and hand/controller data) to the server;
           // that triggers server-side rendering for the frame.
diff --git a/deps/cloudxr/webxr_client/src/App.tsx b/deps/cloudxr/webxr_client/src/App.tsx
index cf61bf074..c508ccf77 100644
--- a/deps/cloudxr/webxr_client/src/App.tsx
+++ b/deps/cloudxr/webxr_client/src/App.tsx
@@ -82,6 +82,10 @@ const streamingFpsText = computed(() =>
 const poseToRenderText = computed(() =>
   streamingMetrics.value ? `${streamingMetrics.value.latencyMs.toFixed(1)}ms` : '-'
 );
+const inputSourcesDebugText = signal<string>('pending');
+const AVP_INPUT_DEBUG_QUERY_PARAM = 'avpInputDebug';
+const AVP_HIDE_CONTROLLER_MODELS_QUERY_PARAM = 'avpHideControllerModels';
+const AVP_REQUIRE_HAND_QUERY_PARAM = 'avpRequireHand';
 
 const CONTROL_PANEL_LAYOUT = {
   distance: 1.8,
@@ -89,6 +93,23 @@ const CONTROL_PANEL_LAYOUT = {
   angleDegrees: 70,
 } as const;
 
+function isTruthyQueryParam(name: string): boolean {
+  const value = new URLSearchParams(window.location.search).get(name);
+  return value === '1' || value?.toLowerCase() === 'true';
+}
+
+function shouldDebugInputSources(): boolean {
+  return isTruthyQueryParam(AVP_INPUT_DEBUG_QUERY_PARAM);
+}
+
+function shouldHideControllerModelsForAvpDebug(): boolean {
+  return isTruthyQueryParam(AVP_HIDE_CONTROLLER_MODELS_QUERY_PARAM);
+}
+
+function shouldRequireAvpHandTracking(): boolean {
+  return isTruthyQueryParam(AVP_REQUIRE_HAND_QUERY_PARAM);
+}
+
 // Override PressureObserver early to catch errors from buggy browser implementations
 overridePressureObserver();
 
@@ -150,6 +171,8 @@ function App() {
   const [sessionStatus, setSessionStatus] = useState('Disconnected');
   // Error message management
   const [errorMessage, setErrorMessage] = useState('');
+  const showInputSourcesDebug = shouldDebugInputSources();
+  const [inputSourcesDebugSnapshot, setInputSourcesDebugSnapshot] = useState('pending');
   // CloudXR session reference
   const [cloudXRSession, setCloudXRSession] = useState<CloudXR.Session | null>(null);
   // XR mode state for UI visibility
@@ -292,7 +315,9 @@ function App() {
   const xrFrameBufferScaling =
     deviceProfile.web?.frameBufferScaling ??
     kPerformanceOptions.xrWebGLLayer_framebufferScaleFactor;
-  const hideControllerModel = cloudXR2DUI?.getConfiguration().hideControllerModel ?? false;
+  const hideControllerModel =
+    shouldHideControllerModelsForAvpDebug() ||
+    (cloudXR2DUI?.getConfiguration().hideControllerModel ?? false);
 
   // XR store must be created after we know which device profile is active.
   // useMemo prevents re-creating the store for unrelated UI changes.
@@ -312,8 +337,10 @@ function App() {
         controller: {
           model: !hideControllerModel, // Allow UI to hide controller models while keeping input active
         },
-        // Request optional WebXR features - use property names, not optionalFeatures array!
-        handTracking: true,
+        secondaryInputSources: true,
+        // Request WebXR hand tracking. Use avpRequireHand=1 to make Safari fail fast if
+        // the CloudXR session is not actually granted hand input sources.
+        handTracking: shouldRequireAvpHandTracking() ? 'required' : true,
         bodyTracking: true,
         // Explicitly disable environment/scene feature requests to avoid extra headset prompts.
         anchors: false,
@@ -515,6 +542,11 @@ function App() {
     streamingMetrics.value = { fps, latencyMs };
   };
 
+  const handleInputSourcesDebug = (summary: string) => {
+    inputSourcesDebugText.value = summary;
+    setInputSourcesDebugSnapshot(summary);
+  };
+
   /**
    * Helper to send a message using MessageChannel API (new) or legacy API (fallback).
    * Looks for the teleop_command channel by UUID, then falls back to legacy API.
@@ -876,6 +908,29 @@ function App() {
 
   return (
     <>
+      {showInputSourcesDebug && (
+        <div
+          style={{
+            position: 'fixed',
+            right: 12,
+            bottom: 12,
+            zIndex: 10,
+            maxWidth: 'min(720px, calc(100vw - 24px))',
+            padding: '10px 12px',
+            borderRadius: 8,
+            background: 'rgba(0, 0, 0, 0.78)',
+            color: '#d7f0ff',
+            fontFamily: 'monospace',
+            fontSize: 12,
+            lineHeight: 1.4,
+            whiteSpace: 'pre-wrap',
+            pointerEvents: 'none',
+          }}
+        >
+          <div>CloudXR WebXR Input</div>
+          <div>{inputSourcesDebugSnapshot}</div>
+        </div>
+      )}
       <Canvas
         events={noEvents}
         style={{
@@ -925,6 +980,9 @@ function App() {
                 onServerAddress={setServerAddress}
                 onRenderPerformanceMetrics={handleRenderPerformanceMetrics}
                 onStreamingPerformanceMetrics={handleStreamingPerformanceMetrics}
+                onInputSourcesDebug={
+                  showInputSourcesDebug ? handleInputSourcesDebug : undefined
+                }
                 headless={!!config.headless}
               />
               {!config.headless && (
@@ -953,6 +1011,9 @@ function App() {
                   renderFpsText={renderFpsText}
                   streamingFpsText={streamingFpsText}
                   poseToRenderText={poseToRenderText}
+                  inputSourcesDebugText={
+                    showInputSourcesDebug ? inputSourcesDebugText : undefined
+                  }
                 />
               )}
             </>
diff --git a/deps/cloudxr/webxr_client/src/CloudXRUI.tsx b/deps/cloudxr/webxr_client/src/CloudXRUI.tsx
index 4a6c82c7b..2a57a9fa6 100644
--- a/deps/cloudxr/webxr_client/src/CloudXRUI.tsx
+++ b/deps/cloudxr/webxr_client/src/CloudXRUI.tsx
@@ -76,6 +76,8 @@ interface CloudXRUIProps {
   streamingFpsText?: ReadonlySignal<string>;
   /** Computed signal for pose-to-render latency text - updates without React re-render */
   poseToRenderText?: ReadonlySignal<string>;
+  /** WebXR input source diagnostics. */
+  inputSourcesDebugText?: ReadonlySignal<string>;
   /** From settings: hide control panel when immersive XR begins. */
   panelHiddenAtStart?: boolean;
   /** Immersive XR active; used to apply panelHiddenAtStart on session enter. */
@@ -119,6 +121,7 @@ export default function CloudXR3DUI({
   renderFpsText,
   streamingFpsText,
   poseToRenderText,
+  inputSourcesDebugText,
   panelHiddenAtStart = false,
   isXRMode = false,
 }: CloudXRUIProps) {
@@ -467,6 +470,11 @@ export default function CloudXR3DUI({
                   <Text fontSize={38} color="rgba(200, 200, 200, 1)" textAlign="center">
                     Status: {sessionStatus}
                   </Text>
+                  {inputSourcesDebugText && (
+                    <Text fontSize={28} color="rgba(160, 220, 255, 1)" textAlign="center">
+                      Input: {inputSourcesDebugText}
+                    </Text>
+                  )}
                 </Container>
 
                 {/* Countdown Config Row */}
diff --git a/examples/g1_wuji_teleop/README.md b/examples/g1_wuji_teleop/README.md
new file mode 100644
index 000000000..a11e43065
--- /dev/null
+++ b/examples/g1_wuji_teleop/README.md
@@ -0,0 +1,44 @@
+<!--
+SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+SPDX-License-Identifier: Apache-2.0
+-->
+
+# G1-Wuji Teleop Example
+
+Workspace-local example for the G1-Wuji AVP + MANUS teleoperation demo.
+
+## Layout
+
+- `config/`: app-owned YAML configuration.
+- `assets/`: app-owned robot and retargeting assets copied out of legacy examples.
+- `python/g1_wuji_teleop/`: implementation package.
+- `scripts/`: thin launchers for operators and developers.
+
+`config/` is organized by retargeting route first, then by robot:
+
+- `config/local/g1_wuji/`: local native-Dex config for `g1_wuji`
+- `config/official/g1_wuji/`: official `wuji-retargeting` config for `g1_wuji`
+
+The `scripts/` launchers resolve config/assets from this example first and do
+not rely on `examples/teleop/python/` for their default runtime path.
+
+For the `g1_wuji` official retargeting path, the local configs point
+`optimizer.urdf_path` at this app's `assets/wuji_hand/urdf/` files, so the
+vendored `wuji-retargeting` checkout does not need its nested
+`wuji-description` submodule for this demo.
+
+## Entry Points
+
+- Session / Isaac Sim example:
+
+  ```bash
+  python examples/g1_wuji_teleop/scripts/g1_wuji_teleop_main.py \
+      --config examples/g1_wuji_teleop/config/avp_manus.yml
+  ```
+
+- Visualizer:
+
+  ```bash
+  python examples/g1_wuji_teleop/scripts/g1_wuji_teleop_visualizer.py \
+      --config examples/g1_wuji_teleop/config/avp_manus.yml
+  ```
diff --git a/examples/g1_wuji_teleop/assets/g1_wuji/g1_three_fingers.usd b/examples/g1_wuji_teleop/assets/g1_wuji/g1_three_fingers.usd
new file mode 100644
index 000000000..a1d80309a
--- /dev/null
+++ b/examples/g1_wuji_teleop/assets/g1_wuji/g1_three_fingers.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 40094469
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new file mode 100644
index 000000000..f5a8770aa
--- /dev/null
+++ b/examples/g1_wuji_teleop/assets/g1_wuji/g1_wuji.usd
@@ -0,0 +1,3 @@
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+size 47977976
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new file mode 100644
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--- /dev/null
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new file mode 100644
index 000000000..6fc5ae36a
--- /dev/null
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new file mode 100644
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new file mode 100644
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diff --git a/examples/g1_wuji_teleop/assets/wuji_hand/meshes/right/finger5_link3_collision.STL b/examples/g1_wuji_teleop/assets/wuji_hand/meshes/right/finger5_link3_collision.STL
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index 000000000..76abe5831
--- /dev/null
+++ b/examples/g1_wuji_teleop/assets/wuji_hand/meshes/right/finger5_link3_collision.STL
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+version https://git-lfs.github.com/spec/v1
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diff --git a/examples/g1_wuji_teleop/assets/wuji_hand/meshes/right/finger5_link4.STL b/examples/g1_wuji_teleop/assets/wuji_hand/meshes/right/finger5_link4.STL
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--- /dev/null
+++ b/examples/g1_wuji_teleop/assets/wuji_hand/meshes/right/finger5_link4.STL
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+version https://git-lfs.github.com/spec/v1
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diff --git a/examples/g1_wuji_teleop/assets/wuji_hand/meshes/right/finger5_link4_collision.STL b/examples/g1_wuji_teleop/assets/wuji_hand/meshes/right/finger5_link4_collision.STL
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--- /dev/null
+++ b/examples/g1_wuji_teleop/assets/wuji_hand/meshes/right/finger5_link4_collision.STL
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+version https://git-lfs.github.com/spec/v1
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diff --git a/examples/g1_wuji_teleop/assets/wuji_hand/meshes/right/finger5_tip_link.STL b/examples/g1_wuji_teleop/assets/wuji_hand/meshes/right/finger5_tip_link.STL
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--- /dev/null
+++ b/examples/g1_wuji_teleop/assets/wuji_hand/meshes/right/finger5_tip_link.STL
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/examples/g1_wuji_teleop/assets/wuji_hand/meshes/right/finger5_tip_link_collision.STL
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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diff --git a/examples/g1_wuji_teleop/assets/wuji_hand/urdf/left.urdf b/examples/g1_wuji_teleop/assets/wuji_hand/urdf/left.urdf
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index 000000000..560769b35
--- /dev/null
+++ b/examples/g1_wuji_teleop/assets/wuji_hand/urdf/left.urdf
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+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="wujihand-left-v1.0.2">
+  <mujoco>
+    <compiler meshdir="../meshes/left" balanceinertia="true" discardvisual="false" eulerseq="xyz" autolimits="true" />
+  </mujoco>
+  <link
+    name="palm_link">
+    <inertial>
+      <origin
+        xyz="-0.0029386 -0.0006128 0.036666"
+        rpy="0 0 0" />
+      <mass
+        value="0.2179" />
+      <inertia
+        ixx="0.00066022"
+        ixy="-2.5411E-06"
+        ixz="2.4318E-05"
+        iyy="0.0004381"
+        iyz="4.5375E-05"
+        izz="0.00029633" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/palm_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/palm_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="finger1_link1">
+    <inertial>
+      <origin
+        xyz="0.0077866 -0.0015915 0.0021115"
+        rpy="0 0 0" />
+      <mass
+        value="0.0075" />
+      <inertia
+        ixx="3.7774E-07"
+        ixy="-1.5296E-08"
+        ixz="-7.9605E-08"
+        iyy="4.5047E-07"
+        iyz="-7.7314E-09"
+        izz="4.0193E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger1_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger1_link1_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger1_joint1"
+    type="revolute">
+    <origin
+      xyz="0.0085244 -0.020575 0.028712"
+      rpy="0.38179 -0.2259 -0.92978" />
+    <parent
+      link="palm_link" />
+    <child
+      link="finger1_link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.0448"
+      upper="1.6508"
+      effort="0.6"
+      velocity="8.587" />
+  </joint>
+  <link
+    name="finger1_link2">
+    <inertial>
+      <origin
+        xyz="0.015665 0.0011444 2.8617E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.0248" />
+      <inertia
+        ixx="1.1847E-06"
+        ixy="2.639E-08"
+        ixz="-1.9577E-08"
+        iyy="4.7918E-06"
+        iyz="-3.0153E-08"
+        izz="4.8942E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger1_link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger1_link2_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger1_joint2"
+    type="revolute">
+    <origin
+      xyz="0.014132 -0.0047549 0.0060191"
+      rpy="-1.6442 -0.32223 -0.53456" />
+    <parent
+      link="finger1_link1" />
+    <child
+      link="finger1_link2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.1659"
+      upper="0.9339"
+      effort="0.6"
+      velocity="11.1" />
+  </joint>
+  <link
+    name="finger1_link3">
+    <inertial>
+      <origin
+        xyz="0.013057 -0.0011233 1.7104E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.0165" />
+      <inertia
+        ixx="9.7983E-07"
+        ixy="-4.8256E-08"
+        ixz="2.8279E-09"
+        iyy="3.1725E-06"
+        iyz="-5.5362E-11"
+        izz="3.1014E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger1_link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger1_link3_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger1_joint3"
+    type="revolute">
+    <origin
+      xyz="0.034664 0.00018873 0.0009916"
+      rpy="1.909 -6.6317E-05 -0.052012" />
+    <parent
+      link="finger1_link2" />
+    <child
+      link="finger1_link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="12.863" />
+  </joint>
+  <link
+    name="finger1_link4">
+    <inertial>
+      <origin
+        xyz="0.0082112 -0.0011922 -0.00023586"
+        rpy="0 0 0" />
+      <mass
+        value="0.0165" />
+      <inertia
+        ixx="6.2056E-07"
+        ixy="-1.5552E-08"
+        ixz="2.78E-09"
+        iyy="1.0613E-06"
+        iyz="-4.1371E-10"
+        izz="1.0896E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger1_link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger1_link4_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger1_joint4"
+    type="revolute">
+    <origin
+      xyz="0.0295 0 0.00025125"
+      rpy="0 0 0" />
+    <parent
+      link="finger1_link3" />
+    <child
+      link="finger1_link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="13.579" />
+  </joint>
+  <link
+    name="finger1_tip_link">
+    <inertial>
+      <origin
+        xyz="-0.0041779 -0.00018195 -7.9626E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.004" />
+      <inertia
+        ixx="4.8332E-07"
+        ixy="2.015E-08"
+        ixz="-3.722E-12"
+        iyy="5.4735E-07"
+        iyz="1.4833E-11"
+        izz="5.4481E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger1_tip_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger1_tip_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger1_tip_fixed"
+    type="fixed">
+    <origin
+      xyz="0.0283 -0.0010446 -0.00024656"
+      rpy="0 0 0" />
+    <parent
+      link="finger1_link4" />
+    <child
+      link="finger1_tip_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="finger2_link1">
+    <inertial>
+      <origin
+        xyz="8.5597E-09 0.0013292 0.00031986"
+        rpy="0 0 0" />
+      <mass
+        value="0.0032" />
+      <inertia
+        ixx="6.6291E-08"
+        ixy="2.8907E-13"
+        ixz="2.0012E-14"
+        iyy="7.6187E-08"
+        iyz="2.3233E-08"
+        izz="7.0732E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger2_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger2_link1_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger2_joint1"
+    type="revolute">
+    <origin
+      xyz="-0.0058701 -0.029434 0.091917"
+      rpy="-0.071558 -0.11043 1.7969" />
+    <parent
+      link="palm_link" />
+    <child
+      link="finger2_link1" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.32695"
+      upper="1.636"
+      effort="1"
+      velocity="8.203" />
+  </joint>
+  <link
+    name="finger2_link2">
+    <inertial>
+      <origin
+        xyz="0.020911 4.1956E-07 -0.0061576"
+        rpy="0 0 0" />
+      <mass
+        value="0.033" />
+      <inertia
+        ixx="1.6351E-06"
+        ixy="-4.5296E-10"
+        ixz="-2.9306E-07"
+        iyy="1.1709E-05"
+        iyz="4.685E-11"
+        izz="1.1667E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger2_link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger2_link2_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger2_joint2"
+    type="revolute">
+    <origin
+      xyz="0 -0.0022 0.004"
+      rpy="1.5708 -1.5708 0" />
+    <parent
+      link="finger2_link1" />
+    <child
+      link="finger2_link2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.495"
+      upper="0.495"
+      effort="0.2"
+      velocity="8.1158" />
+  </joint>
+  <link
+    name="finger2_link3">
+    <inertial>
+      <origin
+        xyz="0.015762 -0.0011212 4.4346E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.0165" />
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+        ixx="1.2547E-07"
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+        iyy="4.1467E-07"
+        iyz="-5.2912E-12"
+        izz="4.0546E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger2_link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger2_link3_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger2_joint3"
+    type="revolute">
+    <origin
+      xyz="0.043618 0 -0.00475"
+      rpy="1.5705 0 0" />
+    <parent
+      link="finger2_link2" />
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+      link="finger2_link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="12.863" />
+  </joint>
+  <link
+    name="finger2_link4">
+    <inertial>
+      <origin
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+        rpy="0 0 0" />
+      <mass
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+        iyy="3.8841E-07"
+        iyz="6.4931E-11"
+        izz="2.7389E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger2_link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger2_link4_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger2_joint4"
+    type="revolute">
+    <origin
+      xyz="0.0295 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="finger2_link3" />
+    <child
+      link="finger2_link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="13.579" />
+  </joint>
+  <link
+    name="finger2_tip_link">
+    <inertial>
+      <origin
+        xyz="-0.008611 -0.00020326 1.4382E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.004" />
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+        iyz="4.3043E-11"
+        izz="6.3746E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger2_tip_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger2_tip_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger2_tip_fixed"
+    type="fixed">
+    <origin
+      xyz="0.0267 -0.00105 0"
+      rpy="0 0 0" />
+    <parent
+      link="finger2_link4" />
+    <child
+      link="finger2_tip_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="finger3_link1">
+    <inertial>
+      <origin
+        xyz="8.8518E-09 0.0013292 0.00031987"
+        rpy="0 0 0" />
+      <mass
+        value="0.0032" />
+      <inertia
+        ixx="6.6291E-08"
+        ixy="1.9964E-13"
+        ixz="3.1051E-14"
+        iyy="7.6187E-08"
+        iyz="2.3233E-08"
+        izz="7.0732E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger3_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger3_link1_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger3_joint1"
+    type="revolute">
+    <origin
+      xyz="-0.01046 -0.0074615 0.089544"
+      rpy="-0.087266 -5.0693E-05 1.5702" />
+    <parent
+      link="palm_link" />
+    <child
+      link="finger3_link1" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.32695"
+      upper="1.63595"
+      effort="1"
+      velocity="8.203" />
+  </joint>
+  <link
+    name="finger3_link2">
+    <inertial>
+      <origin
+        xyz="0.020911 4.1751E-07 -0.0061576"
+        rpy="0 0 0" />
+      <mass
+        value="0.033" />
+      <inertia
+        ixx="1.6351E-06"
+        ixy="-4.5421E-10"
+        ixz="-2.9307E-07"
+        iyy="1.1709E-05"
+        iyz="4.5277E-11"
+        izz="1.1667E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger3_link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger3_link2_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger3_joint2"
+    type="revolute">
+    <origin
+      xyz="0 -0.0022 0.004"
+      rpy="1.5708 -1.5708 0" />
+    <parent
+      link="finger3_link1" />
+    <child
+      link="finger3_link2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.495"
+      upper="0.495"
+      effort="0.2"
+      velocity="8.115" />
+  </joint>
+  <link
+    name="finger3_link3">
+    <inertial>
+      <origin
+        xyz="0.015762 -0.0011212 4.4348E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.0165" />
+      <inertia
+        ixx="9.7867E-07"
+        ixy="7.575E-08"
+        ixz="2.7623E-09"
+        iyy="3.2344E-06"
+        iyz="-4.1476E-11"
+        izz="3.1626E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger3_link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger3_link3_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger3_joint3"
+    type="revolute">
+    <origin
+      xyz="0.043618 0 -0.00475"
+      rpy="1.5705 0 0" />
+    <parent
+      link="finger3_link2" />
+    <child
+      link="finger3_link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="12.863" />
+  </joint>
+  <link
+    name="finger3_link4">
+    <inertial>
+      <origin
+        xyz="0.0053515 -0.0008941 1.7281E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.014" />
+      <inertia
+        ixx="3.1641E-07"
+        ixy="1.2437E-08"
+        ixz="6.7377E-10"
+        iyy="3.8841E-07"
+        iyz="6.5066E-11"
+        izz="2.7389E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger3_link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger3_link4_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger3_joint4"
+    type="revolute">
+    <origin
+      xyz="0.0295 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="finger3_link3" />
+    <child
+      link="finger3_link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="13.579" />
+  </joint>
+  <link
+    name="finger3_tip_link">
+    <inertial>
+      <origin
+        xyz="-0.0086111 -0.00020296 -1.0223E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.004" />
+      <inertia
+        ixx="4.734E-07"
+        ixy="2.4301E-08"
+        ixz="1.2293E-09"
+        iyy="6.4343E-07"
+        iyz="3.8698E-10"
+        izz="6.3748E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger3_tip_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger3_tip_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger3_tip_fixed"
+    type="fixed">
+    <origin
+      xyz="0.0267 -0.0010501 0"
+      rpy="0 0 0" />
+    <parent
+      link="finger3_link4" />
+    <child
+      link="finger3_tip_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="finger4_link1">
+    <inertial>
+      <origin
+        xyz="8.6118E-09 0.0013292 0.00031987"
+        rpy="0 0 0" />
+      <mass
+        value="0.0032" />
+      <inertia
+        ixx="6.6291E-08"
+        ixy="1.7489E-13"
+        ixz="3.6221E-14"
+        iyy="7.6187E-08"
+        iyz="2.3233E-08"
+        izz="7.0732E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger4_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger4_link1_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger4_joint1"
+    type="revolute">
+    <origin
+      xyz="-0.0076649 0.013712 0.084429"
+      rpy="-0.083776 0.090059 1.5161" />
+    <parent
+      link="palm_link" />
+    <child
+      link="finger4_link1" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.32695"
+      upper="1.63595"
+      effort="1"
+      velocity="8.203" />
+  </joint>
+  <link
+    name="finger4_link2">
+    <inertial>
+      <origin
+        xyz="0.020911 4.1777E-07 -0.0061576"
+        rpy="0 0 0" />
+      <mass
+        value="0.033" />
+      <inertia
+        ixx="1.6351E-06"
+        ixy="-4.5403E-10"
+        ixz="-2.9307E-07"
+        iyy="1.1709E-05"
+        iyz="4.5361E-11"
+        izz="1.1667E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger4_link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger4_link2_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger4_joint2"
+    type="revolute">
+    <origin
+      xyz="0 -0.0022 0.004"
+      rpy="1.5708 -1.5708 0" />
+    <parent
+      link="finger4_link1" />
+    <child
+      link="finger4_link2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.495"
+      upper="0.495"
+      effort="0.2"
+      velocity="8.1158" />
+  </joint>
+  <link
+    name="finger4_link3">
+    <inertial>
+      <origin
+        xyz="0.015762 -0.0011212 4.435E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.0165" />
+      <inertia
+        ixx="9.7867E-07"
+        ixy="7.575E-08"
+        ixz="2.7625E-09"
+        iyy="3.2344E-06"
+        iyz="-4.1504E-11"
+        izz="3.1626E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger4_link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger4_link3_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger4_joint3"
+    type="revolute">
+    <origin
+      xyz="0.043618 0 -0.00475"
+      rpy="1.5705 0 0" />
+    <parent
+      link="finger4_link2" />
+    <child
+      link="finger4_link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="12.863" />
+  </joint>
+  <link
+    name="finger4_link4">
+    <inertial>
+      <origin
+        xyz="0.0053515 -0.0008941 1.7282E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.014" />
+      <inertia
+        ixx="3.1641E-07"
+        ixy="1.2437E-08"
+        ixz="6.7382E-10"
+        iyy="3.8841E-07"
+        iyz="6.5108E-11"
+        izz="2.7389E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger4_link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger4_link4_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger4_joint4"
+    type="revolute">
+    <origin
+      xyz="0.0295 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="finger4_link3" />
+    <child
+      link="finger4_link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="13.579" />
+  </joint>
+  <link
+    name="finger4_tip_link">
+    <inertial>
+      <origin
+        xyz="-0.008611 -0.0001955 5.5653E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.004" />
+      <inertia
+        ixx="4.7341E-07"
+        ixy="2.3414E-08"
+        ixz="-6.6606E-09"
+        iyy="6.4304E-07"
+        iyz="-1.5033E-09"
+        izz="6.3787E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger4_tip_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger4_tip_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger4_tip_fixed"
+    type="fixed">
+    <origin
+      xyz="0.0267 -0.0010573 0"
+      rpy="0 0 0" />
+    <parent
+      link="finger4_link4" />
+    <child
+      link="finger4_tip_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="finger5_link1">
+    <inertial>
+      <origin
+        xyz="8.147E-09 0.0013292 0.00031987"
+        rpy="0 0 0" />
+      <mass
+        value="0.0032" />
+      <inertia
+        ixx="6.6291E-08"
+        ixy="1.2911E-13"
+        ixz="4.2957E-14"
+        iyy="7.6187E-08"
+        iyz="2.3232E-08"
+        izz="7.0732E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger5_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger5_link1_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger5_joint1"
+    type="revolute">
+    <origin
+      xyz="-0.0022687 0.034001 0.074281"
+      rpy="-0.094248 0.19165 1.3951" />
+    <parent
+      link="palm_link" />
+    <child
+      link="finger5_link1" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.32695"
+      upper="1.636"
+      effort="1"
+      velocity="8.203" />
+  </joint>
+  <link
+    name="finger5_link2">
+    <inertial>
+      <origin
+        xyz="0.020911 4.2003E-07 -0.0061576"
+        rpy="0 0 0" />
+      <mass
+        value="0.033" />
+      <inertia
+        ixx="1.6351E-06"
+        ixy="-4.5138E-10"
+        ixz="-2.9307E-07"
+        iyy="1.1709E-05"
+        iyz="4.5514E-11"
+        izz="1.1667E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger5_link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger5_link2_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger5_joint2"
+    type="revolute">
+    <origin
+      xyz="0 -0.0022 0.004"
+      rpy="-0.0067566 -1.5708 1.5776" />
+    <parent
+      link="finger5_link1" />
+    <child
+      link="finger5_link2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.495"
+      upper="0.495"
+      effort="0.2"
+      velocity="8.1158" />
+  </joint>
+  <link
+    name="finger5_link3">
+    <inertial>
+      <origin
+        xyz="0.015762 -0.0011212 4.4351E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.0165" />
+      <inertia
+        ixx="9.7867E-07"
+        ixy="7.575E-08"
+        ixz="2.7623E-09"
+        iyy="3.2344E-06"
+        iyz="-4.1485E-11"
+        izz="3.1626E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger5_link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger5_link3_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger5_joint3"
+    type="revolute">
+    <origin
+      xyz="0.043618 0 -0.00475"
+      rpy="1.5705 0 0" />
+    <parent
+      link="finger5_link2" />
+    <child
+      link="finger5_link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="12.863" />
+  </joint>
+  <link
+    name="finger5_link4">
+    <inertial>
+      <origin
+        xyz="0.0053515 -0.0008941 1.7282E-05"
+        rpy="0 0 0" />
+      <mass
+        value="0.014" />
+      <inertia
+        ixx="3.1641E-07"
+        ixy="1.2437E-08"
+        ixz="6.7385E-10"
+        iyy="3.8841E-07"
+        iyz="6.5073E-11"
+        izz="2.7389E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger5_link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger5_link4_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger5_joint4"
+    type="revolute">
+    <origin
+      xyz="0.0295 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="finger5_link3" />
+    <child
+      link="finger5_link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="13.579" />
+  </joint>
+  <link
+    name="finger5_tip_link">
+    <inertial>
+      <origin
+        xyz="-0.008611 -0.00020323 3.5536E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.004" />
+      <inertia
+        ixx="4.7341E-07"
+        ixy="2.4339E-08"
+        ixz="-4.2048E-10"
+        iyy="6.4345E-07"
+        iyz="-1.9248E-11"
+        izz="6.3746E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger5_tip_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left/finger5_tip_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger5_tip_fixed"
+    type="fixed">
+    <origin
+      xyz="0.0267 -0.0010582 0"
+      rpy="0 0 0" />
+    <parent
+      link="finger5_link4" />
+    <child
+      link="finger5_tip_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+</robot>
diff --git a/examples/g1_wuji_teleop/assets/wuji_hand/urdf/right.urdf b/examples/g1_wuji_teleop/assets/wuji_hand/urdf/right.urdf
new file mode 100644
index 000000000..a29f29f10
--- /dev/null
+++ b/examples/g1_wuji_teleop/assets/wuji_hand/urdf/right.urdf
@@ -0,0 +1,1472 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="wujihand-right-v1.0.2">
+  <mujoco>
+    <compiler meshdir="../meshes/right" balanceinertia="true" discardvisual="false" eulerseq="xyz" autolimits="true" />
+  </mujoco>
+  <link
+    name="palm_link">
+    <inertial>
+      <origin
+        xyz="-0.0029795 0.00045572 0.036654"
+        rpy="0 0 0" />
+      <mass
+        value="0.2179" />
+      <inertia
+        ixx="0.00021637"
+        ixy="3.9165E-06"
+        ixz="1.0657E-05"
+        iyy="0.0001461"
+        iyz="-1.0223E-05"
+        izz="9.3156E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/palm_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/palm_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="finger1_link1">
+    <inertial>
+      <origin
+        xyz="-0.0024628 -0.0014428 0.0077802"
+        rpy="0 0 0" />
+      <mass
+        value="0.0075" />
+      <inertia
+        ixx="1.4319E-07"
+        ixy="-7.6048E-09"
+        ixz="-1.812E-10"
+        iyy="1.307E-07"
+        iyz="1.7145E-08"
+        izz="1.0259E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger1_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger1_link1_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger1_joint1"
+    type="revolute">
+    <origin
+      xyz="0.0085244 0.020575 0.028712"
+      rpy="-1.328 -0.37161 -0.7307" />
+    <parent
+      link="palm_link" />
+    <child
+      link="finger1_link1" />
+    <axis
+      xyz="-0 1 -0" />
+    <limit
+      lower="-0.0448"
+      upper="1.6508"
+      effort="0.6"
+      velocity="8.58701992" />
+  </joint>
+  <link
+    name="finger1_link2">
+    <inertial>
+      <origin
+        xyz="0.0011196 -1.2405E-05 0.015663"
+        rpy="0 0 0" />
+      <mass
+        value="0.0248" />
+      <inertia
+        ixx="1.6585E-06"
+        ixy="1.071E-08"
+        ixz="1.0344E-08"
+        iyy="1.694E-06"
+        iyz="1.058E-08"
+        izz="4.1017E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger1_link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger1_link2_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger1_joint2"
+    type="revolute">
+    <origin
+      xyz="-0.0047549 -0.0060191 0.014132"
+      rpy="-0.57428 -0.23677 1.8034" />
+    <parent
+      link="finger1_link1" />
+    <child
+      link="finger1_link2" />
+    <axis
+      xyz="-0 -1 -0" />
+    <limit
+      lower="-0.1659"
+      upper="0.9339"
+      effort="0.6"
+      velocity="11.10029404" />
+  </joint>
+  <link
+    name="finger1_link3">
+    <inertial>
+      <origin
+        xyz="-0.0011235 -1.579E-05 0.013056"
+        rpy="0 0 0" />
+      <mass
+        value="0.0165" />
+      <inertia
+        ixx="1.0981E-06"
+        ixy="1.7603E-11"
+        ixz="-1.669E-08"
+        iyy="1.0736E-06"
+        iyz="-9.86E-10"
+        izz="3.3917E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger1_link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger1_link3_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger1_joint3"
+    type="revolute">
+    <origin
+      xyz="0.00018873 -0.0009916 0.034664"
+      rpy="0.049049 0.017311 -1.9085" />
+    <parent
+      link="finger1_link2" />
+    <child
+      link="finger1_link3" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="12.86307659" />
+  </joint>
+  <link
+    name="finger1_link4">
+    <inertial>
+      <origin
+        xyz="-0.0011922 0.00023589 0.0082118"
+        rpy="0 0 0" />
+      <mass
+        value="0.0165" />
+      <inertia
+        ixx="3.6732E-07"
+        ixy="1.4236E-10"
+        ixz="-5.3805E-09"
+        iyy="3.7712E-07"
+        iyz="-9.5967E-10"
+        izz="2.1481E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger1_link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger1_link4_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger1_joint4"
+    type="revolute">
+    <origin
+      xyz="0 -0.00025 0.0295"
+      rpy="0 0 0" />
+    <parent
+      link="finger1_link3" />
+    <child
+      link="finger1_link4" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="13.57866158" />
+  </joint>
+  <link
+    name="finger1_tip_link">
+    <inertial>
+      <origin
+        xyz="-0.00018237 -3.9481E-06 -0.0041777"
+        rpy="0 0 0" />
+      <mass
+        value="0.004" />
+      <inertia
+        ixx="1.8943E-07"
+        ixy="4.6143E-11"
+        ixz="6.9369E-09"
+        iyy="1.8859E-07"
+        iyz="4.42E-10"
+        izz="1.6733E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger1_tip_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger1_tip_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger1_tip_fixed"
+    type="fixed">
+    <origin
+      xyz="-0.0011048 0.00023218 0.0283"
+      rpy="0 0 0" />
+    <parent
+      link="finger1_link4" />
+    <child
+      link="finger1_tip_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="finger2_link1">
+    <inertial>
+      <origin
+        xyz="-0.0013291 -3.2911E-08 0.00031987"
+        rpy="0 0 0" />
+      <mass
+        value="0.0032" />
+      <inertia
+        ixx="2.6373E-08"
+        ixy="-3.9697E-14"
+        ixz="-8.0422E-09"
+        iyy="2.2948E-08"
+        iyz="-2.4125E-13"
+        izz="2.4484E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger2_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger2_link1_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger2_joint1"
+    type="revolute">
+    <origin
+      xyz="-0.0058701 0.029434 0.091917"
+      rpy="-0.11071 -0.071139 -0.21822" />
+    <parent
+      link="palm_link" />
+    <child
+      link="finger2_link1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.32695"
+      upper="1.63595"
+      effort="1"
+      velocity="8.203047484" />
+  </joint>
+  <link
+    name="finger2_link2">
+    <inertial>
+      <origin
+        xyz="-0.0061577 -4.1189E-07 0.020911"
+        rpy="0 0 0" />
+      <mass
+        value="0.033" />
+      <inertia
+        ixx="4.0385E-06"
+        ixy="-1.83E-11"
+        ixz="-1.0142E-07"
+        iyy="4.0532E-06"
+        iyz="1.4532E-10"
+        izz="5.6602E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger2_link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger2_link2_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger2_joint2"
+    type="revolute">
+    <origin
+      xyz="0.0022 0 0.004"
+      rpy="0 0 0" />
+    <parent
+      link="finger2_link1" />
+    <child
+      link="finger2_link2" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-0.495"
+      upper="0.495"
+      effort="0.2"
+      velocity="8.115781022" />
+  </joint>
+  <link
+    name="finger2_link3">
+    <inertial>
+      <origin
+        xyz="-0.0011668 4.1873E-06 0.026893"
+        rpy="0 0 0" />
+      <mass
+        value="0.0165" />
+      <inertia
+        ixx="1.3423E-06"
+        ixy="-6.5257E-13"
+        ixz="3.4631E-08"
+        iyy="1.3154E-06"
+        iyz="8.8937E-10"
+        izz="5.0263E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger2_link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger2_link3_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger2_joint3"
+    type="revolute">
+    <origin
+      xyz="-0.0047503 0 0.043618"
+      rpy="0 0 -0.00026861" />
+    <parent
+      link="finger2_link2" />
+    <child
+      link="finger2_link3" />
+    <axis
+      xyz="-0 1 -0" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="12.86307659" />
+  </joint>
+  <link
+    name="finger2_link4">
+    <inertial>
+      <origin
+        xyz="-0.00089438 1.7042E-05 0.0053518"
+        rpy="0 0 0" />
+      <mass
+        value="0.014" />
+      <inertia
+        ixx="1.3443E-07"
+        ixy="2.4169E-11"
+        ixz="4.3016E-09"
+        iyy="9.4805E-08"
+        iyz="2.2966E-10"
+        izz="1.0952E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger2_link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger2_link4_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger2_joint4"
+    type="revolute">
+    <origin
+      xyz="0 0 0.0295"
+      rpy="0 0 0" />
+    <parent
+      link="finger2_link3" />
+    <child
+      link="finger2_link4" />
+    <axis
+      xyz="-0 1 -0" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="13.57866158" />
+  </joint>
+  <link
+    name="finger2_tip_link">
+    <inertial>
+      <origin
+        xyz="-0.00020111 3.8638E-06 -0.009311"
+        rpy="0 0 0" />
+      <mass
+        value="0.004" />
+      <inertia
+        ixx="2.2273E-07"
+        ixy="1.2773E-11"
+        ixz="8.4254E-09"
+        iyy="2.2066E-07"
+        iyz="-5.5787E-11"
+        izz="1.6387E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger2_tip_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger2_tip_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger2_tip_fixed"
+    type="fixed">
+    <origin
+      xyz="-0.00105 0 0.0274"
+      rpy="0 0 0" />
+    <parent
+      link="finger2_link4" />
+    <child
+      link="finger2_tip_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="finger3_link1">
+    <inertial>
+      <origin
+        xyz="-0.0013291 3.4987E-09 0.00031994"
+        rpy="0 0 0" />
+      <mass
+        value="0.0032" />
+      <inertia
+        ixx="2.6373E-08"
+        ixy="-1.1786E-13"
+        ixz="-8.0422E-09"
+        iyy="2.2948E-08"
+        iyz="-3.1483E-13"
+        izz="2.4484E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger3_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger3_link1_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger3_joint1"
+    type="revolute">
+    <origin
+      xyz="-0.01046 0.0074615 0.089544"
+      rpy="-5.0886E-05 -0.087266 0.00058387" />
+    <parent
+      link="palm_link" />
+    <child
+      link="finger3_link1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.32695"
+      upper="1.63595"
+      effort="1"
+      velocity="8.203047484" />
+  </joint>
+  <link
+    name="finger3_link2">
+    <inertial>
+      <origin
+        xyz="-0.0061576 -4.1651E-07 0.020911"
+        rpy="0 0 0" />
+      <mass
+        value="0.033" />
+      <inertia
+        ixx="4.0385E-06"
+        ixy="-1.8081E-11"
+        ixz="-1.0144E-07"
+        iyy="4.0532E-06"
+        iyz="1.5178E-10"
+        izz="5.6602E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger3_link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger3_link2_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger3_joint2"
+    type="revolute">
+    <origin
+      xyz="0.0022 0 0.004"
+      rpy="0 0 0" />
+    <parent
+      link="finger3_link1" />
+    <child
+      link="finger3_link2" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-0.495"
+      upper="0.495"
+      effort="0.2"
+      velocity="8.115781022" />
+  </joint>
+  <link
+    name="finger3_link3">
+    <inertial>
+      <origin
+        xyz="-0.0011214 4.331E-06 0.015763"
+        rpy="0 0 0" />
+      <mass
+        value="0.0165" />
+      <inertia
+        ixx="1.1195E-06"
+        ixy="-1.2715E-11"
+        ixz="2.6203E-08"
+        iyy="1.0947E-06"
+        iyz="9.4467E-10"
+        izz="3.3876E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger3_link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger3_link3_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger3_joint3"
+    type="revolute">
+    <origin
+      xyz="-0.00475 0 0.043618"
+      rpy="0 0 -0.00026861" />
+    <parent
+      link="finger3_link2" />
+    <child
+      link="finger3_link3" />
+    <axis
+      xyz="-0 1 -0" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="12.86307659" />
+  </joint>
+  <link
+    name="finger3_link4">
+    <inertial>
+      <origin
+        xyz="-0.00089436 1.7049E-05 0.0053518"
+        rpy="0 0 0" />
+      <mass
+        value="0.014" />
+      <inertia
+        ixx="1.3443E-07"
+        ixy="2.3726E-11"
+        ixz="4.3018E-09"
+        iyy="9.4805E-08"
+        iyz="2.2969E-10"
+        izz="1.0952E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger3_link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger3_link4_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger3_joint4"
+    type="revolute">
+    <origin
+      xyz="0 0 0.0295"
+      rpy="0 0 0" />
+    <parent
+      link="finger3_link3" />
+    <child
+      link="finger3_link4" />
+    <axis
+      xyz="-0 1 -0" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="13.57866158" />
+  </joint>
+  <link
+    name="finger3_tip_link">
+    <inertial>
+      <origin
+        xyz="-0.00020328 1.4971E-06 -0.008611"
+        rpy="0 0 0" />
+      <mass
+        value="0.004" />
+      <inertia
+        ixx="2.2273E-07"
+        ixy="1.2612E-11"
+        ixz="8.4261E-09"
+        iyy="2.2066E-07"
+        iyz="-5.6187E-11"
+        izz="1.6387E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger3_tip_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger3_tip_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger3_tip_fixed"
+    type="fixed">
+    <origin
+      xyz="-0.0010491 0 0.0267"
+      rpy="0 0 0" />
+    <parent
+      link="finger3_link4" />
+    <child
+      link="finger3_tip_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="finger4_link1">
+    <inertial>
+      <origin
+        xyz="-0.0013291 1.0048E-08 0.00031995"
+        rpy="0 0 0" />
+      <mass
+        value="0.0032" />
+      <inertia
+        ixx="2.6373E-08"
+        ixy="-1.2054E-13"
+        ixz="-8.0422E-09"
+        iyy="2.2948E-08"
+        iyz="-2.8844E-13"
+        izz="2.4484E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger4_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger4_link1_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger4_joint1"
+    type="revolute">
+    <origin
+      xyz="-0.0076649 -0.013712 0.084429"
+      rpy="0.090375 -0.083436 0.047127" />
+    <parent
+      link="palm_link" />
+    <child
+      link="finger4_link1" />
+    <axis
+      xyz="-0 1 -0" />
+    <limit
+      lower="-0.32695"
+      upper="1.63595"
+      effort="1"
+      velocity="8.203047484" />
+  </joint>
+  <link
+    name="finger4_link2">
+    <inertial>
+      <origin
+        xyz="-0.0061576 -4.1601E-07 0.020911"
+        rpy="0 0 0" />
+      <mass
+        value="0.033" />
+      <inertia
+        ixx="4.0385E-06"
+        ixy="-1.7998E-11"
+        ixz="-1.0144E-07"
+        iyy="4.0532E-06"
+        iyz="1.5146E-10"
+        izz="5.6602E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger4_link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger4_link2_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger4_joint2"
+    type="revolute">
+    <origin
+      xyz="0.0022 0 0.004"
+      rpy="0 0 0" />
+    <parent
+      link="finger4_link1" />
+    <child
+      link="finger4_link2" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-0.495"
+      upper="0.495"
+      effort="0.2"
+      velocity="8.115781022" />
+  </joint>
+  <link
+    name="finger4_link3">
+    <inertial>
+      <origin
+        xyz="-0.0011214 4.3494E-06 0.015763"
+        rpy="0 0 0" />
+      <mass
+        value="0.0165" />
+      <inertia
+        ixx="1.1195E-06"
+        ixy="-1.3219E-11"
+        ixz="2.6205E-08"
+        iyy="1.0947E-06"
+        iyz="9.4455E-10"
+        izz="3.3876E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger4_link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger4_link3_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger4_joint3"
+    type="revolute">
+    <origin
+      xyz="-0.00475 0 0.043618"
+      rpy="0 0 -0.00026861" />
+    <parent
+      link="finger4_link2" />
+    <child
+      link="finger4_link3" />
+    <axis
+      xyz="-0 1 -0" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="12.86307659" />
+  </joint>
+  <link
+    name="finger4_link4">
+    <inertial>
+      <origin
+        xyz="-0.00089436 1.7058E-05 0.0053518"
+        rpy="0 0 0" />
+      <mass
+        value="0.014" />
+      <inertia
+        ixx="1.3443E-07"
+        ixy="2.3562E-11"
+        ixz="4.3018E-09"
+        iyy="9.4805E-08"
+        iyz="2.2977E-10"
+        izz="1.0952E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger4_link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger4_link4_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger4_joint4"
+    type="revolute">
+    <origin
+      xyz="0 0 0.0295"
+      rpy="0 0 0" />
+    <parent
+      link="finger4_link3" />
+    <child
+      link="finger4_link4" />
+    <axis
+      xyz="-0 1 -0" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="13.57866158" />
+  </joint>
+  <link
+    name="finger4_tip_link">
+    <inertial>
+      <origin
+        xyz="-0.00020322 1.528E-06 -0.0086106"
+        rpy="0 0 0" />
+      <mass
+        value="0.004" />
+      <inertia
+        ixx="2.2277E-07"
+        ixy="1.136E-11"
+        ixz="8.4288E-09"
+        iyy="2.2068E-07"
+        iyz="-5.6207E-11"
+        izz="1.6386E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger4_tip_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger4_tip_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger4_tip_fixed"
+    type="fixed">
+    <origin
+      xyz="-0.0010528 0 0.0267"
+      rpy="0 0 0" />
+    <parent
+      link="finger4_link4" />
+    <child
+      link="finger4_tip_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="finger5_link1">
+    <inertial>
+      <origin
+        xyz="-0.0013291 1.7235E-08 0.00031997"
+        rpy="0 0 0" />
+      <mass
+        value="0.0032" />
+      <inertia
+        ixx="2.6373E-08"
+        ixy="-1.1921E-13"
+        ixz="-8.0423E-09"
+        iyy="2.2948E-08"
+        iyz="-2.4014E-13"
+        izz="2.4484E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger5_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger5_link1_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger5_joint1"
+    type="revolute">
+    <origin
+      xyz="-0.0022687 -0.034001 0.074281"
+      rpy="0.19248 -0.092517 0.15767" />
+    <parent
+      link="palm_link" />
+    <child
+      link="finger5_link1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.32695"
+      upper="1.63595"
+      effort="1"
+      velocity="8.203047484" />
+  </joint>
+  <link
+    name="finger5_link2">
+    <inertial>
+      <origin
+        xyz="-0.0061576 -4.1475E-07 0.020911"
+        rpy="0 0 0" />
+      <mass
+        value="0.033" />
+      <inertia
+        ixx="4.0385E-06"
+        ixy="-1.7718E-11"
+        ixz="-1.0144E-07"
+        iyy="4.0532E-06"
+        iyz="1.5076E-10"
+        izz="5.6602E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger5_link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger5_link2_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger5_joint2"
+    type="revolute">
+    <origin
+      xyz="0.0022 0 0.004"
+      rpy="0 0 0" />
+    <parent
+      link="finger5_link1" />
+    <child
+      link="finger5_link2" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-0.495"
+      upper="0.495"
+      effort="0.2"
+      velocity="8.115781022" />
+  </joint>
+  <link
+    name="finger5_link3">
+    <inertial>
+      <origin
+        xyz="-0.0011214 4.3703E-06 0.015763"
+        rpy="0 0 0" />
+      <mass
+        value="0.0165" />
+      <inertia
+        ixx="1.1195E-06"
+        ixy="-1.3445E-11"
+        ixz="2.6207E-08"
+        iyy="1.0947E-06"
+        iyz="9.436E-10"
+        izz="3.3876E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger5_link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger5_link3_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger5_joint3"
+    type="revolute">
+    <origin
+      xyz="-0.00475 0 0.043618"
+      rpy="0 0 -0.00026861" />
+    <parent
+      link="finger5_link2" />
+    <child
+      link="finger5_link3" />
+    <axis
+      xyz="-0 1 -0" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="12.86307659" />
+  </joint>
+  <link
+    name="finger5_link4">
+    <inertial>
+      <origin
+        xyz="-0.00089437 1.7063E-05 0.0053518"
+        rpy="0 0 0" />
+      <mass
+        value="0.014" />
+      <inertia
+        ixx="1.3443E-07"
+        ixy="2.3618E-11"
+        ixz="4.3017E-09"
+        iyy="9.4805E-08"
+        iyz="2.2985E-10"
+        izz="1.0952E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger5_link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger5_link4_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger5_joint4"
+    type="revolute">
+    <origin
+      xyz="0 0 0.0295"
+      rpy="0 0 0" />
+    <parent
+      link="finger5_link3" />
+    <child
+      link="finger5_link4" />
+    <axis
+      xyz="-0 1 -0" />
+    <limit
+      lower="-0.4932"
+      upper="1.6272"
+      effort="0.3"
+      velocity="13.57866158" />
+  </joint>
+  <link
+    name="finger5_tip_link">
+    <inertial>
+      <origin
+        xyz="-0.00020332 1.4872E-06 -0.0086111"
+        rpy="0 0 0" />
+      <mass
+        value="0.004" />
+      <inertia
+        ixx="2.2273E-07"
+        ixy="1.2441E-11"
+        ixz="8.4267E-09"
+        iyy="2.2066E-07"
+        iyz="-5.5241E-11"
+        izz="1.6386E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger5_tip_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right/finger5_tip_link_collision.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="finger5_tip_fixed"
+    type="fixed">
+    <origin
+      xyz="-0.0010446 1.1308E-05 0.0267"
+      rpy="0 0 0" />
+    <parent
+      link="finger5_link4" />
+    <child
+      link="finger5_tip_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+</robot>
diff --git a/examples/g1_wuji_teleop/config/avp_manus.yml b/examples/g1_wuji_teleop/config/avp_manus.yml
new file mode 100644
index 000000000..681ca911d
--- /dev/null
+++ b/examples/g1_wuji_teleop/config/avp_manus.yml
@@ -0,0 +1,45 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+session:
+  app_name: AvpManusTeleopMain  # TeleopSession/OpenXR session name used for runtime identification
+
+robot:
+  # This demo only keeps the `g1_wuji` variant.
+  variant: g1_wuji  # Selects the robot variant to load and therefore the hand joint set, default USD, and retargeting configs
+  initial_world_position: [0.0, 0.0, 0.8]  # Initial robot root world position [x, y, z] in meters
+  initial_world_orientation_xyzw: [0.0, 0.0, 0.707, 0.707]  # Initial robot root orientation quaternion [x, y, z, w]
+  debug_visualization: false  # Enables debug markers, axes, and auxiliary visualization
+
+  avp_frame_binding:
+    enabled: true  # Enables calibration and binding from the AVP head/hand frame into the robot frame
+    calibration_window_s: 3.0  # Averaging window in seconds when starting or recalibrating
+    robot_reference_body: torso_link  # Body/link name used as the robot reference frame
+    robot_reference_offset_pos: [0.0077774, 0.0000210, 0.3836842]  # Position offset from the reference body to the desired head reference point, in meters
+    robot_reference_offset_quat_xyzw: [0.0, 0.0, 0.0, 1.0]  # Orientation offset from the reference body to the desired head reference point
+    head_forward_axis_isaac: [0.0, 1.0, 0.0]  # Unit axis in Isaac coordinates that corresponds to the headset forward direction
+    whole_body_yaw_following: true  # Lets the robot base / whole body follow the headset around the z axis
+    whole_body_yaw_deadband_rad: 0.03  # Minimum yaw change, in radians, before whole-body yaw following is applied
+    whole_body_yaw_smoothing_alpha: 0.2  # Smoothing factor for whole-body yaw following; larger values respond faster
+
+  head_view_camera:
+    enabled: true  # Creates a simulated first-person camera attached to the robot head
+    activate_on_calibration: true  # Automatically switches the Kit viewport to this camera after pressing B and completing AVP head/hand calibration
+    prim_path: /World/TeleopTargets/HeadViewCamera  # USD prim path of the head camera
+    translation_offset_m: [0.05, 0.0, 0.3836842]  # Camera position offset [x, y, z] relative to the head-link local frame, in meters
+    orientation_offset_rpy_deg: [70.0, 0.0, -90.0]  # Camera orientation compensation [roll, pitch, yaw] relative to the head-link local frame, in degrees; adjust this first if the head view faces the wrong way
+    horizontal_aperture_mm: 20.955  # USD camera horizontal sensor size, used to determine field of view
+    focal_length_mm: 5.0  # USD camera focal length, combined with aperture to control the initial first-person FOV
+    clipping_range_m: [0.01, 1000.0]  # Camera near/far clipping range [near, far] in meters
+
+  head_view_xr_display:
+    enabled: false  # Sends the head camera image directly into the AVP/XR view; when enabled it reuses the same OpenXR session
+
+avp:
+  ee_pose_source: wrist  # Keeps the original path by default; switch this to `controller` when using PICO controller EE poses
+  ee_hand_joint: wrist  # Only used when ee_pose_source=hand_tracking / wrist / palm; `wrist` is the closest match to the original AVP path
+  controller_pose_source: aim  # Only used when ee_pose_source=controller; prefer `aim` first for PICO controller mode, then try `grip` if needed
+  controller_fallback_enabled: true  # Only meaningful for the hand-tracking path; in PICO controller mode it is usually better to set this to false
+
+retargeting:
+  # This example is fixed to the `official_wuji` path and the built-in hand-frame transform.
diff --git a/examples/g1_wuji_teleop/config/local/g1_wuji/hand_left_config.yml b/examples/g1_wuji_teleop/config/local/g1_wuji/hand_left_config.yml
new file mode 100644
index 000000000..cf8e75551
--- /dev/null
+++ b/examples/g1_wuji_teleop/config/local/g1_wuji/hand_left_config.yml
@@ -0,0 +1,36 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+retargeting:
+  finger_tip_link_names:
+    - finger1_tip_link
+    - finger2_tip_link
+    - finger3_tip_link
+    - finger4_tip_link
+    - finger5_tip_link
+  low_pass_alpha: 0.2
+  scaling_factor: 1.0
+  target_joint_names:
+    - finger1_joint1
+    - finger1_joint2
+    - finger1_joint3
+    - finger1_joint4
+    - finger2_joint1
+    - finger2_joint2
+    - finger2_joint3
+    - finger2_joint4
+    - finger3_joint1
+    - finger3_joint2
+    - finger3_joint3
+    - finger3_joint4
+    - finger4_joint1
+    - finger4_joint2
+    - finger4_joint3
+    - finger4_joint4
+    - finger5_joint1
+    - finger5_joint2
+    - finger5_joint3
+    - finger5_joint4
+  type: DexPilot
+  urdf_path: placeholder_overridden_at_runtime
+  wrist_link_name: palm_link
diff --git a/examples/g1_wuji_teleop/config/local/g1_wuji/hand_right_config.yml b/examples/g1_wuji_teleop/config/local/g1_wuji/hand_right_config.yml
new file mode 100644
index 000000000..cf8e75551
--- /dev/null
+++ b/examples/g1_wuji_teleop/config/local/g1_wuji/hand_right_config.yml
@@ -0,0 +1,36 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+retargeting:
+  finger_tip_link_names:
+    - finger1_tip_link
+    - finger2_tip_link
+    - finger3_tip_link
+    - finger4_tip_link
+    - finger5_tip_link
+  low_pass_alpha: 0.2
+  scaling_factor: 1.0
+  target_joint_names:
+    - finger1_joint1
+    - finger1_joint2
+    - finger1_joint3
+    - finger1_joint4
+    - finger2_joint1
+    - finger2_joint2
+    - finger2_joint3
+    - finger2_joint4
+    - finger3_joint1
+    - finger3_joint2
+    - finger3_joint3
+    - finger3_joint4
+    - finger4_joint1
+    - finger4_joint2
+    - finger4_joint3
+    - finger4_joint4
+    - finger5_joint1
+    - finger5_joint2
+    - finger5_joint3
+    - finger5_joint4
+  type: DexPilot
+  urdf_path: placeholder_overridden_at_runtime
+  wrist_link_name: palm_link
diff --git a/examples/g1_wuji_teleop/config/official/g1_wuji/manus_wuji_left.yaml b/examples/g1_wuji_teleop/config/official/g1_wuji/manus_wuji_left.yaml
new file mode 100644
index 000000000..62b6ae87a
--- /dev/null
+++ b/examples/g1_wuji_teleop/config/official/g1_wuji/manus_wuji_left.yaml
@@ -0,0 +1,39 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+# G1-Wuji MANUS retargeting config backed by the official wuji-retargeting package.
+
+optimizer:
+  type: "AdaptiveOptimizerAnalytical"
+  urdf_path: "../../../assets/wuji_hand/urdf/left.urdf"
+
+retarget:
+  huber_delta: 2.0
+  huber_delta_dir: 0.5
+  norm_delta: 0.04
+
+  w_pos: 1.0
+  w_dir: 2.0
+  scaling: 1.0
+  project_tip_dir: false
+
+  w_full_hand: 1.0
+  segment_scaling:
+    thumb: [0.98, 1.0, 1.0]
+    index: [1.1, 0.989, 1.03]
+    middle: [1.10, 0.96, 0.96]
+    ring: [1.1, 0.97, 0.99]
+    pinky: [1.105, 1.15, 1.15]
+
+  pinch_thresholds:
+    index: { d1: 2.0, d2: 4.0 }
+    middle: { d1: 2.0, d2: 4.0 }
+    ring: { d1: 2.0, d2: 4.0 }
+    pinky: { d1: 2.0, d2: 4.0 }
+
+  mediapipe_rotation:
+    x: 0.0
+    y: 0.0
+    z: 15.0
+
+  lp_alpha: 0.2
diff --git a/examples/g1_wuji_teleop/config/official/g1_wuji/manus_wuji_right.yaml b/examples/g1_wuji_teleop/config/official/g1_wuji/manus_wuji_right.yaml
new file mode 100644
index 000000000..665ce6b07
--- /dev/null
+++ b/examples/g1_wuji_teleop/config/official/g1_wuji/manus_wuji_right.yaml
@@ -0,0 +1,39 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+# G1-Wuji MANUS retargeting config backed by the official wuji-retargeting package.
+
+optimizer:
+  type: "AdaptiveOptimizerAnalytical"
+  urdf_path: "../../../assets/wuji_hand/urdf/right.urdf"
+
+retarget:
+  huber_delta: 2.0
+  huber_delta_dir: 0.5
+  norm_delta: 0.04
+
+  w_pos: 1.0
+  w_dir: 2.0
+  scaling: 1.0
+  project_tip_dir: false
+
+  w_full_hand: 1.0
+  segment_scaling:
+    thumb: [0.98, 1.0, 1.0]
+    index: [1.1, 0.989, 1.03]
+    middle: [1.10, 0.96, 0.96]
+    ring: [1.1, 0.97, 0.99]
+    pinky: [1.105, 1.15, 1.15]
+
+  pinch_thresholds:
+    index: { d1: 2.0, d2: 4.0 }
+    middle: { d1: 2.0, d2: 4.0 }
+    ring: { d1: 2.0, d2: 4.0 }
+    pinky: { d1: 2.0, d2: 4.0 }
+
+  mediapipe_rotation:
+    x: 0.0
+    y: 0.0
+    z: -15.0
+
+  lp_alpha: 0.2
diff --git a/examples/g1_wuji_teleop/python/g1_wuji_teleop/__init__.py b/examples/g1_wuji_teleop/python/g1_wuji_teleop/__init__.py
new file mode 100644
index 000000000..eabb40f14
--- /dev/null
+++ b/examples/g1_wuji_teleop/python/g1_wuji_teleop/__init__.py
@@ -0,0 +1,8 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""G1-Wuji AVP + MANUS teleoperation application package."""
+
+from .session import main
+
+__all__ = ["main"]
diff --git a/examples/g1_wuji_teleop/python/g1_wuji_teleop/cli.py b/examples/g1_wuji_teleop/python/g1_wuji_teleop/cli.py
new file mode 100644
index 000000000..613ce811b
--- /dev/null
+++ b/examples/g1_wuji_teleop/python/g1_wuji_teleop/cli.py
@@ -0,0 +1,19 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Thin CLI entrypoints for the G1-Wuji teleop app."""
+
+from __future__ import annotations
+
+from collections.abc import Sequence
+
+from .session import main as session_main
+from .viz.teleop_visualizer import main as visualizer_main
+
+
+def teleop_main(argv: Sequence[str] | None = None) -> int:
+    return session_main(argv)
+
+
+def teleop_visualizer_main(argv: Sequence[str] | None = None) -> int:
+    return visualizer_main(argv)
diff --git a/examples/g1_wuji_teleop/python/g1_wuji_teleop/devices/avp_manus_stream.py b/examples/g1_wuji_teleop/python/g1_wuji_teleop/devices/avp_manus_stream.py
new file mode 100644
index 000000000..5521dda5f
--- /dev/null
+++ b/examples/g1_wuji_teleop/python/g1_wuji_teleop/devices/avp_manus_stream.py
@@ -0,0 +1,894 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Non-ROS AVP + MANUS teleop entry point for simulation loops.
+
+The public surface for simulators is ``TeleopMain``:
+
+    with TeleopMain.from_config_file("config/avp_manus.yml") as teleop:
+        sample = teleop.step()
+        left_ee = sample["ee_poses"]["left"]
+        left_skeleton = sample["hand_skeletons"]["left"]
+        left_joints = sample["hand_joint_positions"]["left"]
+
+AVP endpoint poses can arrive as OpenXR hand tracking wrist/palm poses or as
+controller aim/grip poses. MANUS glove data is expected to arrive as OpenXR hand
+tracking, either from an already-running ``manus_hand_plugin`` or from the plugin
+managed by ``TeleopSession``.
+"""
+
+from __future__ import annotations
+
+import argparse
+import sys
+import time
+from collections.abc import Mapping, Sequence
+from dataclasses import dataclass
+from pathlib import Path
+from typing import Any
+
+from ..paths import default_config_path, ensure_import_paths, repo_root
+
+
+SIDE_NAMES = ("left", "right")
+
+# Keep the non-ROS G1-Wuji DexPilot path aligned with the official teleop_ros2
+# hand-retargeting basis. Using identity here causes OpenXR hand frames to enter
+# dex-retargeting in the wrong basis, which looks like joint-level tracking
+# errors even when the output names/count match the robot hand.
+FIXED_G1_WUJI_RETARGET_TRANSFORM = (
+    0.0,
+    -1.0,
+    0.0,
+    -1.0,
+    0.0,
+    0.0,
+    0.0,
+    0.0,
+    -1.0,
+)
+
+FIXED_RETARGET_METHOD = "official_wuji"
+
+FIXED_G1_WUJI_RETARGET_DEFAULTS = {
+    "left": {
+        "config": Path("local/g1_wuji/hand_left_config.yml"),
+        "urdf": Path("../assets/wuji_hand/urdf/left.urdf"),
+        "parameter_config_path": "/tmp/avp_manus_left_g1_wuji_dex_params.json",
+        "joint_names": [
+            "left_finger1_joint1",
+            "left_finger1_joint2",
+            "left_finger1_joint3",
+            "left_finger1_joint4",
+            "left_finger2_joint1",
+            "left_finger2_joint2",
+            "left_finger2_joint3",
+            "left_finger2_joint4",
+            "left_finger3_joint1",
+            "left_finger3_joint2",
+            "left_finger3_joint3",
+            "left_finger3_joint4",
+            "left_finger4_joint1",
+            "left_finger4_joint2",
+            "left_finger4_joint3",
+            "left_finger4_joint4",
+            "left_finger5_joint1",
+            "left_finger5_joint2",
+            "left_finger5_joint3",
+            "left_finger5_joint4",
+        ],
+    },
+    "right": {
+        "config": Path("local/g1_wuji/hand_right_config.yml"),
+        "urdf": Path("../assets/wuji_hand/urdf/right.urdf"),
+        "parameter_config_path": "/tmp/avp_manus_right_g1_wuji_dex_params.json",
+        "joint_names": [
+            "right_finger1_joint1",
+            "right_finger1_joint2",
+            "right_finger1_joint3",
+            "right_finger1_joint4",
+            "right_finger2_joint1",
+            "right_finger2_joint2",
+            "right_finger2_joint3",
+            "right_finger2_joint4",
+            "right_finger3_joint1",
+            "right_finger3_joint2",
+            "right_finger3_joint3",
+            "right_finger3_joint4",
+            "right_finger4_joint1",
+            "right_finger4_joint2",
+            "right_finger4_joint3",
+            "right_finger4_joint4",
+            "right_finger5_joint1",
+            "right_finger5_joint2",
+            "right_finger5_joint3",
+            "right_finger5_joint4",
+        ],
+    },
+}
+
+FIXED_NATIVE_RETARGET_DEFAULTS_BY_VARIANT = {"g1_wuji": FIXED_G1_WUJI_RETARGET_DEFAULTS}
+
+
+@dataclass(frozen=True)
+class RuntimeDeps:
+    DeviceIOSession: Any
+    ControllersSource: Any
+    DexHandRetargeter: Any
+    DexHandRetargeterConfig: Any
+    HeadSource: Any
+    HandsSource: Any
+    OpenXRSessionHandles: Any
+    OutputCombiner: Any
+    PluginConfig: Any
+    TeleopSession: Any
+    TeleopSessionConfig: Any
+    ControllerInputIndex: Any
+    HandInputIndex: Any
+    HandJointIndex: Any
+    HeadPoseIndex: Any
+
+
+def _default_config_path() -> Path:
+    return default_config_path()
+
+
+def _repo_root() -> Path:
+    return repo_root()
+
+
+def _load_runtime_deps() -> RuntimeDeps:
+    try:
+        import isaacteleop.deviceio as deviceio
+        from isaacteleop.retargeting_engine.deviceio_source_nodes import (
+            ControllersSource,
+            HeadSource,
+            HandsSource,
+        )
+        from isaacteleop.retargeting_engine.interface import OutputCombiner
+        from isaacteleop.retargeting_engine.tensor_types.indices import (
+            ControllerInputIndex,
+            HandInputIndex,
+            HandJointIndex,
+            HeadPoseIndex,
+        )
+        from isaacteleop.oxr import OpenXRSessionHandles
+        from isaacteleop.retargeters import DexHandRetargeter, DexHandRetargeterConfig
+        from isaacteleop.teleop_session_manager import (
+            PluginConfig,
+            TeleopSession,
+            TeleopSessionConfig,
+        )
+    except ModuleNotFoundError as exc:
+        raise ModuleNotFoundError(
+            f"Missing Python dependency {exc.name!r}. Activate an IsaacTeleop "
+            "environment with retargeter dependencies before running the G1-Wuji "
+            "teleop AVP/MANUS stream."
+        ) from exc
+
+    return RuntimeDeps(
+        DeviceIOSession=deviceio.DeviceIOSession,
+        ControllersSource=ControllersSource,
+        DexHandRetargeter=DexHandRetargeter,
+        DexHandRetargeterConfig=DexHandRetargeterConfig,
+        HeadSource=HeadSource,
+        HandsSource=HandsSource,
+        OpenXRSessionHandles=OpenXRSessionHandles,
+        OutputCombiner=OutputCombiner,
+        PluginConfig=PluginConfig,
+        TeleopSession=TeleopSession,
+        TeleopSessionConfig=TeleopSessionConfig,
+        ControllerInputIndex=ControllerInputIndex,
+        HandInputIndex=HandInputIndex,
+        HandJointIndex=HandJointIndex,
+        HeadPoseIndex=HeadPoseIndex,
+    )
+
+
+def _load_yaml(path: Path) -> dict[str, Any]:
+    try:
+        import yaml
+    except ModuleNotFoundError as exc:
+        raise ModuleNotFoundError(
+            "PyYAML is required to load G1-Wuji teleop config files."
+        ) from exc
+
+    with path.open("r", encoding="utf-8") as stream:
+        data = yaml.safe_load(stream) or {}
+    if not isinstance(data, dict):
+        raise ValueError(f"Config root must be a mapping: {path}")
+    return data
+
+
+def _as_mapping(value: Any, name: str) -> Mapping[str, Any]:
+    if value is None:
+        return {}
+    if not isinstance(value, Mapping):
+        raise ValueError(f"Config field {name!r} must be a mapping")
+    return value
+
+
+def _as_sequence(value: Any, name: str) -> Sequence[Any]:
+    if value is None:
+        return []
+    if isinstance(value, (str, bytes)) or not isinstance(value, Sequence):
+        raise ValueError(f"Config field {name!r} must be a sequence")
+    return value
+
+
+def _robot_variant_from_config(config: Mapping[str, Any]) -> str:
+    robot_cfg = _as_mapping(config.get("robot"), "robot")
+    raw = str(robot_cfg.get("variant", "g1_wuji")).strip().lower()
+    aliases = {
+        "g1wuji": "g1_wuji",
+        "g1-wuji": "g1_wuji",
+        "wuji": "g1_wuji",
+    }
+    normalized = aliases.get(raw, raw)
+    if normalized not in FIXED_NATIVE_RETARGET_DEFAULTS_BY_VARIANT:
+        raise ValueError(
+            f"Unsupported robot.variant={raw!r}. Expected one of "
+            f"{sorted(FIXED_NATIVE_RETARGET_DEFAULTS_BY_VARIANT)}"
+        )
+    return normalized
+
+
+def _retarget_method_from_config(config: Mapping[str, Any]) -> str:
+    retargeting_cfg = _as_mapping(config.get("retargeting"), "retargeting")
+    raw = str(retargeting_cfg.get("method", FIXED_RETARGET_METHOD)).strip().lower()
+    aliases = {
+        "native": "native_dex",
+        "native_dex": "native_dex",
+        "dex": "native_dex",
+        "dexhand": "native_dex",
+        "dex_hand": "native_dex",
+        "official": "official_wuji",
+        "official_wuji": "official_wuji",
+        "wuji": "official_wuji",
+    }
+    normalized = aliases.get(raw, raw)
+    if normalized not in {"native_dex", "official_wuji"}:
+        raise ValueError(
+            "Config field 'retargeting.method' must be one of "
+            "['native_dex', 'official_wuji']"
+        )
+    return normalized
+
+
+def _use_native_hand_targets_from_config(config: Mapping[str, Any]) -> bool:
+    return _retarget_method_from_config(config) == "native_dex"
+
+
+def _resolve_path(path_value: str | None, *, base_dir: Path, default: Path) -> Path:
+    path = Path(path_value).expanduser() if path_value else default
+    if not path.is_absolute():
+        path = base_dir / path
+    return path.resolve()
+
+
+def _require_file(path: Path, label: str) -> Path:
+    if not path.is_file():
+        raise FileNotFoundError(f"{label} not found: {path}")
+    return path
+
+
+def _default_plugin_search_paths() -> list[Path]:
+    root = _repo_root()
+    return [
+        root / "install" / "plugins",
+        Path("/opt/isaacteleop/install/plugins"),
+    ]
+
+
+def _tensor_values(group: Any) -> list[float]:
+    return [float(group[index]) for index in range(len(group))]
+
+
+def _controller_pose(
+    group: Any, *, pose_source: str, deps: RuntimeDeps
+) -> dict[str, Any] | None:
+    if group.is_none:
+        return None
+
+    if pose_source == "aim":
+        position_index = deps.ControllerInputIndex.AIM_POSITION
+        orientation_index = deps.ControllerInputIndex.AIM_ORIENTATION
+        valid_index = deps.ControllerInputIndex.AIM_IS_VALID
+    elif pose_source == "grip":
+        position_index = deps.ControllerInputIndex.GRIP_POSITION
+        orientation_index = deps.ControllerInputIndex.GRIP_ORIENTATION
+        valid_index = deps.ControllerInputIndex.GRIP_IS_VALID
+    else:
+        raise ValueError(f"ee_pose_source must be 'aim' or 'grip', got {pose_source!r}")
+
+    if not bool(group[valid_index]):
+        return None
+
+    return {
+        "position": [float(value) for value in group[position_index]],
+        "orientation_xyzw": [float(value) for value in group[orientation_index]],
+    }
+
+
+def _hand_tracking_pose(
+    group: Any, *, joint_name: str, deps: RuntimeDeps
+) -> dict[str, Any] | None:
+    if group.is_none:
+        return None
+
+    import numpy as np
+
+    joint_index = int(getattr(deps.HandJointIndex, joint_name.upper()))
+    valid = np.from_dlpack(group[deps.HandInputIndex.JOINT_VALID])
+    if not bool(valid[joint_index]):
+        return None
+
+    positions = np.from_dlpack(group[deps.HandInputIndex.JOINT_POSITIONS])
+    orientations = np.from_dlpack(group[deps.HandInputIndex.JOINT_ORIENTATIONS])
+    return {
+        "position": [float(value) for value in positions[joint_index]],
+        "orientation_xyzw": [float(value) for value in orientations[joint_index]],
+    }
+
+
+def _head_pose(group: Any, *, deps: RuntimeDeps) -> dict[str, Any] | None:
+    if group.is_none or not bool(group[deps.HeadPoseIndex.IS_VALID]):
+        return None
+
+    return {
+        "position": [float(value) for value in group[deps.HeadPoseIndex.POSITION]],
+        "orientation_xyzw": [
+            float(value) for value in group[deps.HeadPoseIndex.ORIENTATION]
+        ],
+    }
+
+
+def _controller_inputs(group: Any, *, deps: RuntimeDeps) -> dict[str, Any] | None:
+    if group.is_none:
+        return None
+    return {
+        "primary_click": bool(group[deps.ControllerInputIndex.PRIMARY_CLICK] > 0.5),
+        "secondary_click": bool(group[deps.ControllerInputIndex.SECONDARY_CLICK] > 0.5),
+        "thumbstick_click": bool(
+            group[deps.ControllerInputIndex.THUMBSTICK_CLICK] > 0.5
+        ),
+        "menu_click": bool(group[deps.ControllerInputIndex.MENU_CLICK] > 0.5),
+        "thumbstick_x": float(group[deps.ControllerInputIndex.THUMBSTICK_X]),
+        "thumbstick_y": float(group[deps.ControllerInputIndex.THUMBSTICK_Y]),
+        "squeeze_value": float(group[deps.ControllerInputIndex.SQUEEZE_VALUE]),
+        "trigger_value": float(group[deps.ControllerInputIndex.TRIGGER_VALUE]),
+    }
+
+
+def _openxr_hand_joint_names(deps: RuntimeDeps) -> list[str]:
+    return [
+        name.lower()
+        for name, _index in sorted(
+            deps.HandJointIndex.__members__.items(),
+            key=lambda item: int(item[1]),
+        )
+    ]
+
+
+def _hand_tracking_skeleton(group: Any, *, deps: RuntimeDeps) -> dict[str, Any] | None:
+    if group.is_none:
+        return None
+
+    import numpy as np
+
+    positions = np.from_dlpack(group[deps.HandInputIndex.JOINT_POSITIONS]).copy()
+    valid = np.from_dlpack(group[deps.HandInputIndex.JOINT_VALID]).astype(bool).copy()
+    if positions.ndim != 2 or positions.shape[1] != 3:
+        return None
+    if valid.ndim != 1 or positions.shape[0] != valid.shape[0]:
+        return None
+
+    return {
+        "joint_names": _openxr_hand_joint_names(deps),
+        "positions": [[float(coord) for coord in position] for position in positions],
+        "valid": [bool(value) for value in valid],
+    }
+
+
+class TeleopMain:
+    """Small non-ROS facade returning AVP EE poses and MANUS retargeted joints."""
+
+    def __init__(
+        self,
+        config: Mapping[str, Any],
+        *,
+        config_dir: Path,
+        oxr_handles: Any | None = None,
+    ) -> None:
+        ensure_import_paths()
+        self._config = config
+        self._config_dir = config_dir
+        self._deps = _load_runtime_deps()
+        self._use_native_hand_targets = _use_native_hand_targets_from_config(config)
+        self._oxr_handles = oxr_handles
+        self._session = None
+        self._session_context = None
+        (
+            self._ee_pose_source,
+            self._controller_pose_source,
+            self._ee_hand_joint,
+            self._controller_fallback_enabled,
+        ) = self._load_ee_pose_config()
+        self._manus_plugin_required = self._load_manus_plugin_required()
+        self._manus_plugin_configs = self._build_plugin_configs()
+        self._manus_plugin_disabled_for_session = False
+        self._ee_source_announced: set[tuple[str, str]] = set()
+        self._hand_joint_names: dict[str, list[str]] = {}
+        self._required_xr_extensions: tuple[str, ...] = ()
+        self._session_config_includes_plugins = True
+        self._session_config = self._build_session_config(include_plugins=True)
+
+    @classmethod
+    def from_config_file(
+        cls,
+        path: str | Path | None = None,
+        *,
+        oxr_handles: Any | None = None,
+    ) -> "TeleopMain":
+        config_path = Path(path).expanduser() if path else _default_config_path()
+        config_path = config_path.resolve()
+        config = _load_yaml(config_path)
+        return cls(config, config_dir=config_path.parent, oxr_handles=oxr_handles)
+
+    @property
+    def hand_joint_names(self) -> dict[str, list[str]]:
+        return {side: list(names) for side, names in self._hand_joint_names.items()}
+
+    @property
+    def required_xr_extensions(self) -> tuple[str, ...]:
+        return tuple(self._required_xr_extensions)
+
+    def set_oxr_handles(self, oxr_handles: Any | None) -> None:
+        if self._session is not None or self._session_context is not None:
+            raise RuntimeError(
+                "TeleopMain.set_oxr_handles() must be called before starting the session"
+            )
+        self._oxr_handles = oxr_handles
+        self._session_config_includes_plugins = True
+        self._session_config = self._build_session_config(include_plugins=True)
+
+    def __enter__(self) -> "TeleopMain":
+        try:
+            self._start_session(include_plugins=True)
+        except Exception as exc:
+            can_restart = self._can_restart_without_manus_plugin(startup=True)
+            self._close_session()
+            if not can_restart:
+                raise
+            self._disable_optional_manus_plugin(exc, phase="startup")
+            self._start_session(include_plugins=False)
+        return self
+
+    def __exit__(self, exc_type, exc_value, traceback) -> None:
+        if self._session_context is not None:
+            self._session_context.__exit__(exc_type, exc_value, traceback)
+        self._session_context = None
+        self._session = None
+
+    def _start_session(self, *, include_plugins: bool) -> None:
+        if include_plugins != self._session_config_includes_plugins:
+            self._session_config = self._build_session_config(
+                include_plugins=include_plugins
+            )
+            self._session_config_includes_plugins = include_plugins
+        self._session_context = self._deps.TeleopSession(self._session_config)
+        self._session = self._session_context.__enter__()
+
+    def _close_session(self) -> None:
+        session_context = self._session_context
+        if session_context is not None:
+            try:
+                session_context.__exit__(None, None, None)
+            finally:
+                exit_stack = getattr(session_context, "_exit_stack", None)
+                if exit_stack is not None:
+                    exit_stack.close()
+        self._session_context = None
+        self._session = None
+
+    def _can_restart_without_manus_plugin(self, *, startup: bool) -> bool:
+        if (
+            self._manus_plugin_required
+            or self._manus_plugin_disabled_for_session
+            or not self._manus_plugin_configs
+        ):
+            return False
+        if startup:
+            return bool(
+                getattr(self._session_context, "plugin_managers", ())
+                or getattr(self._session_context, "plugin_contexts", ())
+            )
+        if self._session is None:
+            return False
+        return bool(getattr(self._session, "plugin_contexts", ()))
+
+    def _disable_optional_manus_plugin(self, exc: Exception, *, phase: str) -> None:
+        self._manus_plugin_disabled_for_session = True
+        print(
+            "[TeleopMain] optional MANUS plugin failed during "
+            f"{phase}; restarting without it so AVP/controller EE teleop can continue "
+            f"({type(exc).__name__}: {exc}).",
+            flush=True,
+        )
+
+    def step(self) -> dict[str, Any]:
+        if self._session is None:
+            raise RuntimeError(
+                "TeleopMain must be used as a context manager before step()"
+            )
+
+        try:
+            result = self._session.step()
+        except Exception as exc:
+            if not self._can_restart_without_manus_plugin(startup=False):
+                raise
+            self._close_session()
+            self._disable_optional_manus_plugin(exc, phase="runtime")
+            self._start_session(include_plugins=False)
+            result = self._session.step()
+        left_hand = result["openxr_hand_left"]
+        right_hand = result["openxr_hand_right"]
+        hand_active = {
+            "left": not left_hand.is_none,
+            "right": not right_hand.is_none,
+        }
+        hand_joint_positions = {"left": None, "right": None}
+        if self._use_native_hand_targets:
+            if hand_active["left"] and "left_hand_joints" in result:
+                hand_joint_positions["left"] = _tensor_values(
+                    result["left_hand_joints"]
+                )
+            if hand_active["right"] and "right_hand_joints" in result:
+                hand_joint_positions["right"] = _tensor_values(
+                    result["right_hand_joints"]
+                )
+
+        return {
+            "timestamp_s": time.time(),
+            "frame_count": self._session.frame_count,
+            "head_pose": _head_pose(result["avp_head"], deps=self._deps),
+            "ee_poses": {
+                "left": self._ee_pose(result, "left"),
+                "right": self._ee_pose(result, "right"),
+            },
+            "hand_active": hand_active,
+            "hand_skeletons": {
+                "left": _hand_tracking_skeleton(left_hand, deps=self._deps),
+                "right": _hand_tracking_skeleton(right_hand, deps=self._deps),
+            },
+            "hand_joint_names": self.hand_joint_names,
+            "hand_joint_positions": hand_joint_positions,
+            "controller_inputs": {
+                "left": (
+                    _controller_inputs(result["avp_controller_left"], deps=self._deps)
+                    if "avp_controller_left" in result
+                    else None
+                ),
+                "right": (
+                    _controller_inputs(result["avp_controller_right"], deps=self._deps)
+                    if "avp_controller_right" in result
+                    else None
+                ),
+            },
+        }
+
+    def _build_session_config(self, *, include_plugins: bool):
+        deps = self._deps
+        head = deps.HeadSource(name="avp_head")
+        hands = deps.HandsSource(name="manus_hands")
+        trackers = [head.get_tracker(), hands.get_tracker()]
+
+        output_mapping = {
+            "avp_head": head.output("head"),
+            "openxr_hand_left": hands.output(deps.HandsSource.LEFT),
+            "openxr_hand_right": hands.output(deps.HandsSource.RIGHT),
+        }
+        if self._use_native_hand_targets:
+            left_retargeter, right_retargeter = self._build_hand_retargeters()
+            left_connected = left_retargeter.connect(
+                {deps.HandsSource.LEFT: hands.output(deps.HandsSource.LEFT)}
+            )
+            right_connected = right_retargeter.connect(
+                {deps.HandsSource.RIGHT: hands.output(deps.HandsSource.RIGHT)}
+            )
+
+            left_joint_type = left_connected.output_types()["hand_joints"]
+            right_joint_type = right_connected.output_types()["hand_joints"]
+            self._hand_joint_names = {
+                "left": [tensor_type.name for tensor_type in left_joint_type.types],
+                "right": [tensor_type.name for tensor_type in right_joint_type.types],
+            }
+            output_mapping.update(
+                {
+                    "left_hand_joints": left_connected.output("hand_joints"),
+                    "right_hand_joints": right_connected.output("hand_joints"),
+                }
+            )
+        else:
+            # The official Wuji route consumes MANUS/OpenXR skeletons directly in session.py.
+            # Do not require native Dex tensors when retargeting.method selects that path.
+            self._hand_joint_names = {side: [] for side in SIDE_NAMES}
+
+        if self._ee_pose_source == "controller" or self._controller_fallback_enabled:
+            controllers = deps.ControllersSource(name="avp_controllers")
+            trackers.append(controllers.get_tracker())
+            output_mapping.update(
+                {
+                    "avp_controller_left": controllers.output(
+                        deps.ControllersSource.LEFT
+                    ),
+                    "avp_controller_right": controllers.output(
+                        deps.ControllersSource.RIGHT
+                    ),
+                }
+            )
+
+        pipeline = deps.OutputCombiner(output_mapping)
+        self._required_xr_extensions = tuple(
+            deps.DeviceIOSession.get_required_extensions(trackers)
+        )
+
+        session_cfg = _as_mapping(self._config.get("session"), "session")
+        app_name = str(session_cfg.get("app_name", "AvpManusTeleopMain"))
+        return deps.TeleopSessionConfig(
+            app_name=app_name,
+            pipeline=pipeline,
+            plugins=self._manus_plugin_configs if include_plugins else [],
+            oxr_handles=self._oxr_handles,
+        )
+
+    def _build_hand_retargeters(self) -> tuple[Any, Any]:
+        deps = self._deps
+        retargeting_cfg = _as_mapping(self._config.get("retargeting"), "retargeting")
+        robot_variant = _robot_variant_from_config(self._config)
+        variant_defaults = FIXED_NATIVE_RETARGET_DEFAULTS_BY_VARIANT[robot_variant]
+        transform = tuple(
+            float(value)
+            for value in _as_sequence(
+                retargeting_cfg.get(
+                    "handtracking_to_baselink_frame_transform",
+                    FIXED_G1_WUJI_RETARGET_TRANSFORM,
+                ),
+                "retargeting.handtracking_to_baselink_frame_transform",
+            )
+            or FIXED_G1_WUJI_RETARGET_TRANSFORM
+        )
+        if len(transform) != 9:
+            raise ValueError(
+                "retargeting.handtracking_to_baselink_frame_transform must have 9 values"
+            )
+
+        side_retargeters = []
+        for side in SIDE_NAMES:
+            side_cfg = _as_mapping(retargeting_cfg.get(side), f"retargeting.{side}")
+            fixed_defaults = variant_defaults[side]
+            config_path = _require_file(
+                _resolve_path(
+                    side_cfg.get("config"),
+                    base_dir=self._config_dir,
+                    default=fixed_defaults["config"],
+                ),
+                f"{side} hand retargeting config",
+            )
+            urdf_path = _require_file(
+                _resolve_path(
+                    side_cfg.get("urdf"),
+                    base_dir=self._config_dir,
+                    default=fixed_defaults["urdf"],
+                ),
+                f"{side} hand URDF",
+            )
+            joint_names = side_cfg.get("joint_names")
+            if joint_names is not None:
+                joint_names = [
+                    str(name)
+                    for name in _as_sequence(
+                        joint_names, f"retargeting.{side}.joint_names"
+                    )
+                ]
+            elif "joint_names" in fixed_defaults:
+                joint_names = [str(name) for name in fixed_defaults["joint_names"]]
+            if joint_names is not None and robot_variant == "g1_wuji":
+                # DexHandRetargeter populates output tensors by matching requested output
+                # names against the URDF DOF names reported by the optimizer. Wuji's hand
+                # URDF uses unprefixed names like finger1_joint1, so strip side prefixes
+                # here and let session.py re-add them later when ordering robot targets.
+                side_prefix = f"{side}_"
+                joint_names = [
+                    name[len(side_prefix) :] if name.startswith(side_prefix) else name
+                    for name in joint_names
+                ]
+
+            retargeter_config = deps.DexHandRetargeterConfig(
+                hand_retargeting_config=str(config_path),
+                hand_urdf=str(urdf_path),
+                hand_joint_names=joint_names,
+                handtracking_to_baselink_frame_transform=transform,
+                hand_side=side,
+                parameter_config_path=side_cfg.get(
+                    "parameter_config_path",
+                    fixed_defaults["parameter_config_path"],
+                ),
+            )
+            retargeter = deps.DexHandRetargeter(
+                retargeter_config, name=f"{side}_manus_dex"
+            )
+            output_joint_names = list(
+                retargeter.output_types()["hand_joints"].types  # type: ignore[index]
+            )
+            print(
+                f"[Manus][DexPilot] variant={robot_variant} side={side} "
+                f"config={config_path} urdf={urdf_path} "
+                f"transform={transform} "
+                f"joint_count={len(output_joint_names)} "
+                f"first_joints={[tensor_type.name for tensor_type in output_joint_names[:5]]}",
+                flush=True,
+            )
+            side_retargeters.append(retargeter)
+
+        return side_retargeters[0], side_retargeters[1]
+
+    def _build_plugin_configs(self) -> list[Any]:
+        plugin_cfg = _as_mapping(self._config.get("manus_plugin"), "manus_plugin")
+        if not bool(plugin_cfg.get("enabled", True)):
+            return []
+
+        search_paths_cfg = _as_sequence(
+            plugin_cfg.get("search_paths"), "manus_plugin.search_paths"
+        )
+        if search_paths_cfg:
+            search_paths = [
+                _resolve_path(str(path), base_dir=self._config_dir, default=Path())
+                for path in search_paths_cfg
+            ]
+        else:
+            search_paths = _default_plugin_search_paths()
+
+        return [
+            self._deps.PluginConfig(
+                plugin_name=str(plugin_cfg.get("plugin_name", "manus_hand_plugin")),
+                plugin_root_id=str(plugin_cfg.get("plugin_root_id", "manus")),
+                search_paths=search_paths,
+                enabled=True,
+                plugin_args=[
+                    str(arg)
+                    for arg in _as_sequence(plugin_cfg.get("args"), "manus_plugin.args")
+                ],
+            )
+        ]
+
+    def _load_manus_plugin_required(self) -> bool:
+        plugin_cfg = _as_mapping(self._config.get("manus_plugin"), "manus_plugin")
+        return bool(plugin_cfg.get("required", False))
+
+    def _load_ee_pose_config(self) -> tuple[str, str, str, bool]:
+        avp_cfg = _as_mapping(self._config.get("avp"), "avp")
+        pose_source = str(avp_cfg.get("ee_pose_source", "hand_tracking")).lower()
+        controller_pose_source = "aim"
+        hand_joint = str(avp_cfg.get("ee_hand_joint", "wrist")).lower()
+        controller_fallback_enabled = bool(
+            avp_cfg.get("controller_fallback_enabled", True)
+        )
+
+        if pose_source in {"aim", "grip"}:
+            controller_pose_source = pose_source
+            pose_source = "controller"
+        elif pose_source in {"controller"}:
+            controller_pose_source = str(
+                avp_cfg.get("controller_pose_source", "aim")
+            ).lower()
+        elif pose_source in {"hand_wrist", "wrist"}:
+            pose_source = "hand_tracking"
+            hand_joint = "wrist"
+        elif pose_source in {"hand_palm", "palm"}:
+            pose_source = "hand_tracking"
+            hand_joint = "palm"
+
+        if pose_source not in {"controller", "hand_tracking"}:
+            raise ValueError(
+                "avp.ee_pose_source must be one of 'hand_tracking', 'wrist', "
+                f"'palm', 'controller', 'aim', or 'grip'; got {pose_source!r}"
+            )
+        if controller_pose_source not in {"aim", "grip"}:
+            raise ValueError(
+                "avp.controller_pose_source must be 'aim' or 'grip', got "
+                f"{controller_pose_source!r}"
+            )
+        if hand_joint not in {"wrist", "palm"}:
+            raise ValueError(
+                f"avp.ee_hand_joint must be 'wrist' or 'palm', got {hand_joint!r}"
+            )
+        return (
+            pose_source,
+            controller_pose_source,
+            hand_joint,
+            controller_fallback_enabled,
+        )
+
+    def _ee_pose(self, result: Mapping[str, Any], side: str) -> dict[str, Any] | None:
+        if self._ee_pose_source == "controller":
+            pose = _controller_pose(
+                result[f"avp_controller_{side}"],
+                pose_source=self._controller_pose_source,
+                deps=self._deps,
+            )
+            self._announce_ee_source(side, "controller" if pose else "inactive")
+            return pose
+
+        # In the AVP optical-hand setup, EE uses OpenXR hand tracking while MANUS
+        # only affects finger retargeting; losing MANUS should not disable this path.
+        pose = _hand_tracking_pose(
+            result[f"openxr_hand_{side}"],
+            joint_name=self._ee_hand_joint,
+            deps=self._deps,
+        )
+        if not self._controller_fallback_enabled or not _is_degenerate_pose(pose):
+            self._announce_ee_source(side, "hand_tracking" if pose else "inactive")
+            return pose
+
+        controller_key = f"avp_controller_{side}"
+        if controller_key not in result:
+            self._announce_ee_source(side, "inactive")
+            return None
+        fallback_pose = _controller_pose(
+            result[controller_key],
+            pose_source=self._controller_pose_source,
+            deps=self._deps,
+        )
+        self._announce_ee_source(
+            side,
+            "controller_fallback" if fallback_pose else "inactive",
+        )
+        return fallback_pose
+
+    def _announce_ee_source(self, side: str, source: str) -> None:
+        key = (side, source)
+        if key in self._ee_source_announced:
+            return
+        self._ee_source_announced.add(key)
+        print(f"[TeleopMain] {side} EE source: {source}", flush=True)
+
+
+def _is_degenerate_pose(pose: Mapping[str, Any] | None) -> bool:
+    # Some injected hand-tracking runtimes report valid wrists at the zero pose
+    # before world tracking is available; do not drive IK to that placeholder.
+    if pose is None:
+        return True
+    position = pose.get("position")
+    if not isinstance(position, Sequence) or isinstance(position, (str, bytes)):
+        return True
+    if len(position) != 3:
+        return True
+    return sum(float(value) * float(value) for value in position) < 1.0e-10
+
+
+def _parse_args(argv: Sequence[str]) -> argparse.Namespace:
+    parser = argparse.ArgumentParser(
+        description="Run non-ROS AVP EE + MANUS dexterous hand teleop."
+    )
+    parser.add_argument(
+        "--config",
+        default=str(_default_config_path()),
+        help="YAML config for devices, retargeting, and loop settings.",
+    )
+    return parser.parse_args(argv)
+
+
+def main(argv: Sequence[str] | None = None) -> int:
+    args = _parse_args(sys.argv[1:] if argv is None else argv)
+    config_path = Path(args.config).expanduser().resolve()
+    config = _load_yaml(config_path)
+
+    with TeleopMain(config, config_dir=config_path.parent) as teleop:
+        while True:
+            teleop.step()
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/examples/g1_wuji_teleop/python/g1_wuji_teleop/hand_retargeting/__init__.py b/examples/g1_wuji_teleop/python/g1_wuji_teleop/hand_retargeting/__init__.py
new file mode 100644
index 000000000..4b2df55b7
--- /dev/null
+++ b/examples/g1_wuji_teleop/python/g1_wuji_teleop/hand_retargeting/__init__.py
@@ -0,0 +1,9 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Local hand-retargeting adapters used by the teleop app."""
+
+from .base import HandRetargetStepResult
+from .wuji_official_adapter import WujiOfficialManusHandRetargeter
+
+__all__ = ["HandRetargetStepResult", "WujiOfficialManusHandRetargeter"]
diff --git a/examples/g1_wuji_teleop/python/g1_wuji_teleop/hand_retargeting/base.py b/examples/g1_wuji_teleop/python/g1_wuji_teleop/hand_retargeting/base.py
new file mode 100644
index 000000000..61c82e89a
--- /dev/null
+++ b/examples/g1_wuji_teleop/python/g1_wuji_teleop/hand_retargeting/base.py
@@ -0,0 +1,25 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Shared result objects for local hand-retargeting adapters."""
+
+from __future__ import annotations
+
+from dataclasses import dataclass, field
+from typing import Any
+
+
+@dataclass(slots=True)
+class HandRetargetStepResult:
+    """One dual-hand retargeting step result."""
+
+    frame_index: int
+    left_joint_positions: Any | None
+    right_joint_positions: Any | None
+    left_joint_names: tuple[str, ...] | None = None
+    right_joint_names: tuple[str, ...] | None = None
+    ok: bool = True
+    stale: bool = False
+    error: str | None = None
+    latency_ms: float | None = None
+    raw: dict[str, Any] = field(default_factory=dict)
diff --git a/examples/g1_wuji_teleop/python/g1_wuji_teleop/hand_retargeting/wuji_official_adapter.py b/examples/g1_wuji_teleop/python/g1_wuji_teleop/hand_retargeting/wuji_official_adapter.py
new file mode 100644
index 000000000..7fd73f01b
--- /dev/null
+++ b/examples/g1_wuji_teleop/python/g1_wuji_teleop/hand_retargeting/wuji_official_adapter.py
@@ -0,0 +1,227 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Thin wrapper around the vendored official ``wuji-retargeting`` package."""
+
+from __future__ import annotations
+
+import sys
+import time
+from pathlib import Path
+from typing import Any
+
+import numpy as np
+
+from ..paths import repo_root
+from .base import HandRetargetStepResult
+
+_WUJI_CONFIG_FILENAMES = {
+    "left": "manus_wuji_left.yaml",
+    "right": "manus_wuji_right.yaml",
+}
+
+
+def _official_checkout_root() -> Path:
+    return (repo_root() / "third_party" / "wuji-retargeting").resolve()
+
+
+def _ensure_upstream_checkout() -> Path:
+    checkout_root = _official_checkout_root()
+    package_entry = checkout_root / "wuji_retargeting" / "retarget.py"
+    if not package_entry.is_file():
+        raise ModuleNotFoundError(
+            "Official wuji-retargeting checkout is missing. Expected "
+            f"{package_entry}. Initialize the submodule first."
+        )
+
+    checkout_root_str = str(checkout_root)
+    if checkout_root_str not in sys.path:
+        sys.path.insert(0, checkout_root_str)
+    return checkout_root
+
+
+def _import_upstream_retargeter():
+    _ensure_upstream_checkout()
+    from wuji_retargeting.retarget import Retargeter
+
+    return Retargeter
+
+
+def _as_float32_numpy(values: Any, shape: tuple[int, ...]) -> np.ndarray:
+    array = np.asarray(values, dtype=np.float32)
+    return array.reshape(shape)
+
+
+def _valid_skeleton21(skeleton: np.ndarray) -> tuple[bool, str | None]:
+    if skeleton.shape != (21, 3):
+        return False, f"unexpected shape {skeleton.shape}"
+    if not np.all(np.isfinite(skeleton)):
+        return False, "non-finite landmarks"
+
+    centered = skeleton - skeleton[0:1]
+    max_radius = float(np.max(np.linalg.norm(centered, axis=1)))
+    if max_radius < 1.0e-4:
+        return False, "all landmarks collapsed to the wrist"
+
+    palm_vec_a = skeleton[5] - skeleton[0]
+    palm_vec_b = skeleton[9] - skeleton[0]
+    if np.linalg.norm(palm_vec_a) < 1.0e-5 or np.linalg.norm(palm_vec_b) < 1.0e-5:
+        return False, "missing palm anchor landmarks"
+    if np.linalg.norm(np.cross(palm_vec_a, palm_vec_b)) < 1.0e-7:
+        return False, "degenerate palm frame"
+    return True, None
+
+
+class WujiOfficialManusHandRetargeter:
+    """Retarget MANUS/OpenXR-style 21-point skeletons with the official package."""
+
+    def __init__(
+        self,
+        *,
+        config_dir: Path | None = None,
+        left_config_name: str = _WUJI_CONFIG_FILENAMES["left"],
+        right_config_name: str = _WUJI_CONFIG_FILENAMES["right"],
+    ) -> None:
+        self._config_dir = (
+            Path(config_dir).expanduser() if config_dir is not None else None
+        )
+        self._config_names = {
+            "left": left_config_name,
+            "right": right_config_name,
+        }
+        self._retargeter_left: Any | None = None
+        self._retargeter_right: Any | None = None
+        self._left_joint_names: tuple[str, ...] | None = None
+        self._right_joint_names: tuple[str, ...] | None = None
+        self._last_left = np.zeros(20, dtype=np.float32)
+        self._last_right = np.zeros(20, dtype=np.float32)
+
+    def _resolve_config_path(self, side: str) -> Path:
+        if self._config_dir is not None:
+            return (self._config_dir / self._config_names[side]).resolve()
+
+        upstream_root = _ensure_upstream_checkout()
+        return (
+            upstream_root / "example" / "config" / f"retarget_manus_{side}.yaml"
+        ).resolve()
+
+    def _ensure_retargeters(self) -> None:
+        if self._retargeter_left is not None and self._retargeter_right is not None:
+            return
+
+        Retargeter = _import_upstream_retargeter()
+        left_yaml = self._resolve_config_path("left")
+        right_yaml = self._resolve_config_path("right")
+        for config_path in (left_yaml, right_yaml):
+            if not config_path.is_file():
+                raise FileNotFoundError(
+                    f"Official Wuji retarget config does not exist: {config_path}"
+                )
+        self._retargeter_left = Retargeter.from_yaml(str(left_yaml), hand_side="left")
+        self._retargeter_right = Retargeter.from_yaml(
+            str(right_yaml), hand_side="right"
+        )
+        self._left_joint_names = tuple(
+            self._retargeter_left.optimizer.robot.dof_joint_names
+        )
+        self._right_joint_names = tuple(
+            self._retargeter_right.optimizer.robot.dof_joint_names
+        )
+
+    def _safe_qpos(self, retargeter: Any, cached: np.ndarray | None) -> np.ndarray:
+        num_joints = int(retargeter.num_joints)
+        if cached is not None:
+            cached_array = np.asarray(cached, dtype=np.float32).reshape(-1)
+            if cached_array.shape == (num_joints,) and np.all(
+                np.isfinite(cached_array)
+            ):
+                return cached_array.copy()
+
+        limits = np.asarray(retargeter.optimizer.robot.joint_limits, dtype=np.float32)
+        zeros = np.zeros(num_joints, dtype=np.float32)
+        return np.clip(zeros, limits[:, 0], limits[:, 1])
+
+    def _retarget_hand(
+        self,
+        side: str,
+        skeleton: np.ndarray,
+        retargeter: Any,
+        cached_qpos: np.ndarray,
+    ) -> tuple[np.ndarray, bool, str | None]:
+        safe_qpos = self._safe_qpos(retargeter, cached_qpos)
+        valid, error = _valid_skeleton21(skeleton)
+        if not valid:
+            return safe_qpos, False, f"invalid {side} hand skeleton: {error}"
+
+        try:
+            qpos = np.asarray(retargeter.retarget(skeleton), dtype=np.float32).reshape(
+                -1
+            )
+        except Exception as exc:
+            retargeter.reset()
+            return safe_qpos, False, f"{side} hand retarget failed ({exc})"
+
+        if qpos.shape != safe_qpos.shape:
+            retargeter.reset()
+            return (
+                safe_qpos,
+                False,
+                f"{side} hand retarget returned {qpos.shape}, expected {safe_qpos.shape}",
+            )
+        if not np.all(np.isfinite(qpos)):
+            retargeter.reset()
+            return safe_qpos, False, f"{side} hand retarget returned non-finite values"
+        return qpos.copy(), True, None
+
+    def retarget_manus_skeletons(
+        self,
+        left_skeleton: Any,
+        right_skeleton: Any,
+        *,
+        frame_index: int,
+        device: Any = None,
+    ) -> HandRetargetStepResult:
+        del device
+        self._ensure_retargeters()
+        started = time.perf_counter()
+
+        left_input = _as_float32_numpy(left_skeleton, (21, 3))
+        right_input = _as_float32_numpy(right_skeleton, (21, 3))
+        left_qpos, left_ok, left_error = self._retarget_hand(
+            "left",
+            left_input,
+            self._retargeter_left,
+            self._last_left,
+        )
+        right_qpos, right_ok, right_error = self._retarget_hand(
+            "right",
+            right_input,
+            self._retargeter_right,
+            self._last_right,
+        )
+
+        if left_ok:
+            self._last_left = left_qpos.copy()
+        if right_ok:
+            self._last_right = right_qpos.copy()
+
+        errors = [error for error in (left_error, right_error) if error]
+        return HandRetargetStepResult(
+            frame_index=int(frame_index),
+            left_joint_positions=left_qpos,
+            right_joint_positions=right_qpos,
+            left_joint_names=self._left_joint_names,
+            right_joint_names=self._right_joint_names,
+            ok=left_ok and right_ok,
+            stale=not (left_ok and right_ok),
+            error="; ".join(errors) if errors else None,
+            latency_ms=(time.perf_counter() - started) * 1000.0,
+            raw={
+                "left_ok": left_ok,
+                "right_ok": right_ok,
+            },
+        )
+
+    def shutdown(self) -> None:
+        self._retargeter_left = None
+        self._retargeter_right = None
diff --git a/examples/g1_wuji_teleop/python/g1_wuji_teleop/paths.py b/examples/g1_wuji_teleop/python/g1_wuji_teleop/paths.py
new file mode 100644
index 000000000..114816417
--- /dev/null
+++ b/examples/g1_wuji_teleop/python/g1_wuji_teleop/paths.py
@@ -0,0 +1,49 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Path helpers for the workspace-local G1-Wuji teleop app."""
+
+from __future__ import annotations
+
+import sys
+from pathlib import Path
+
+
+def package_root() -> Path:
+    return Path(__file__).resolve().parent
+
+
+def app_root() -> Path:
+    return package_root().parents[1]
+
+
+def repo_root() -> Path:
+    return app_root().parents[1]
+
+
+def default_config_path() -> Path:
+    return (app_root() / "config" / "avp_manus.yml").resolve()
+
+
+def default_robot_usd_path() -> Path:
+    return (app_root() / "assets" / "g1_wuji" / "g1_wuji.usd").resolve()
+
+
+def resolve_repo_relative_path(relative_path: str | Path) -> Path:
+    relative = Path(relative_path)
+    app_path = app_root() / relative
+    if app_path.exists():
+        return app_path.resolve()
+    return (app_root() / relative).resolve()
+
+
+def ensure_import_paths() -> None:
+    candidates = (
+        app_root() / "python",
+        repo_root() / "build-local" / "python_package" / "Release",
+    )
+    for path in candidates:
+        if path.exists():
+            path_str = str(path)
+            if path_str not in sys.path:
+                sys.path.insert(0, path_str)
diff --git a/examples/g1_wuji_teleop/python/g1_wuji_teleop/robots/g1_wuji/__init__.py b/examples/g1_wuji_teleop/python/g1_wuji_teleop/robots/g1_wuji/__init__.py
new file mode 100644
index 000000000..790630b7e
--- /dev/null
+++ b/examples/g1_wuji_teleop/python/g1_wuji_teleop/robots/g1_wuji/__init__.py
@@ -0,0 +1,4 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""G1-Wuji teleop scene, retargeting, and runtime helpers."""
diff --git a/examples/g1_wuji_teleop/python/g1_wuji_teleop/robots/g1_wuji/debug_viz.py b/examples/g1_wuji_teleop/python/g1_wuji_teleop/robots/g1_wuji/debug_viz.py
new file mode 100644
index 000000000..952cf877a
--- /dev/null
+++ b/examples/g1_wuji_teleop/python/g1_wuji_teleop/robots/g1_wuji/debug_viz.py
@@ -0,0 +1,452 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Optional point/axis debug visualization helpers for the G1-Wuji teleop.
+
+Keep marker creation, head-prim lookup, and per-frame debug updates here so the
+teleop control path stays independent of debug-only scene edits.
+"""
+
+from __future__ import annotations
+
+from collections.abc import Callable, Mapping
+from dataclasses import dataclass
+from typing import Any
+
+import numpy as np
+
+
+MarkerPoseResolver = Callable[
+    [str, Mapping[str, Any]], tuple[np.ndarray, np.ndarray] | None
+]
+FramePose = tuple[np.ndarray, np.ndarray]
+
+
+@dataclass(frozen=True)
+class DebugVizRuntimeConfig:
+    enabled: bool = True
+
+
+@dataclass(frozen=True)
+class DebugVizSceneConfig:
+    wrist_marker_radius: float
+    wrist_axis_length: float
+    wrist_axis_radius: float
+    robot_z: float
+
+
+@dataclass
+class DebugVizHandles:
+    wrist_markers: Any | None = None
+    wrist_frames: Any | None = None
+    robot_ee_frames: Any | None = None
+    head_link_point: Any | None = None
+    head_link_frame: Any | None = None
+
+
+def walk_child_prims(root_prim: Any):
+    if not root_prim or not root_prim.IsValid():
+        return
+    yield root_prim
+    for child in root_prim.GetChildren():
+        yield from walk_child_prims(child)
+
+
+def find_child_prim_by_name(root_prim: Any, target_name: str) -> Any | None:
+    for prim in walk_child_prims(root_prim):
+        if prim.GetName() == target_name:
+            return prim
+    return None
+
+
+def head_like_relative_paths() -> tuple[str, ...]:
+    return (
+        "torso_link/head_link",
+        "g1/torso_link/head_link",
+        "torso_link/visuals/head_link",
+        "g1/torso_link/visuals/head_link",
+        "head_link",
+        "g1/head_link",
+        "head",
+        "g1/head",
+    )
+
+
+def find_head_like_prim(stage: Any, root_prim: Any, root_path: str) -> Any | None:
+    if stage is not None:
+        for relative_path in head_like_relative_paths():
+            prim = stage.GetPrimAtPath(f"{root_path}/{relative_path}")
+            if prim is not None and prim.IsValid():
+                return prim
+        for prim in stage.Traverse():
+            prim_path = str(prim.GetPath())
+            if any(
+                prim_path.endswith(f"/{suffix}")
+                for suffix in head_like_relative_paths()
+            ):
+                return prim
+
+    for name in ("head_link", "head"):
+        match = find_child_prim_by_name(root_prim, name)
+        if match is not None and "/visuals/" not in str(match.GetPath()):
+            return match
+    for prim in walk_child_prims(root_prim):
+        prim_path = str(prim.GetPath())
+        if "/visuals/" in prim_path:
+            continue
+        if "head" in prim.GetName().lower():
+            return prim
+    return None
+
+
+def debug_viz_runtime_config(config: Mapping[str, Any]) -> DebugVizRuntimeConfig:
+    robot_config = config.get("robot", {})
+    if robot_config is None:
+        robot_config = {}
+    if not isinstance(robot_config, Mapping):
+        raise ValueError("Config field 'robot' must be a mapping")
+
+    # Keep debug visualization as a single on/off switch for this teleop path.
+    debug_viz_config = robot_config.get("debug_visualization", True)
+    if debug_viz_config is None:
+        debug_viz_config = True
+    if not isinstance(debug_viz_config, bool):
+        raise ValueError("Config field 'robot.debug_visualization' must be a boolean")
+
+    return DebugVizRuntimeConfig(enabled=debug_viz_config)
+
+
+def _make_axis_marker_set(
+    sim_utils: Any,
+    VisualizationMarkers: Any,
+    VisualizationMarkersCfg: Any,
+    *,
+    prim_path: str,
+    axis_length: float,
+    axis_radius: float,
+    anchor_x: float,
+    robot_z: float,
+    colors: tuple[
+        tuple[float, float, float],
+        tuple[float, float, float],
+        tuple[float, float, float],
+    ],
+) -> Any:
+    axis_cfg = VisualizationMarkersCfg(
+        prim_path=prim_path,
+        markers={
+            "x": sim_utils.CylinderCfg(
+                radius=axis_radius,
+                height=axis_length,
+                visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=colors[0]),
+            ),
+            "y": sim_utils.CylinderCfg(
+                radius=axis_radius,
+                height=axis_length,
+                visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=colors[1]),
+            ),
+            "z": sim_utils.CylinderCfg(
+                radius=axis_radius,
+                height=axis_length,
+                visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=colors[2]),
+            ),
+        },
+    )
+    axis_markers = VisualizationMarkers(axis_cfg)
+    axis_markers.visualize(
+        translations=np.array(
+            [
+                [anchor_x + axis_length * 0.5, 0.25, robot_z + 0.85],
+                [anchor_x, 0.25 + axis_length * 0.5, robot_z + 0.85],
+                [anchor_x, 0.25, robot_z + 0.85 + axis_length * 0.5],
+                [anchor_x + axis_length * 0.5, -0.25, robot_z + 0.85],
+                [anchor_x, -0.25 + axis_length * 0.5, robot_z + 0.85],
+                [anchor_x, -0.25, robot_z + 0.85 + axis_length * 0.5],
+            ],
+            dtype=np.float32,
+        ),
+        orientations=np.array(
+            [
+                _axis_to_cylinder_orientation(np.array([1.0, 0.0, 0.0])),
+                _axis_to_cylinder_orientation(np.array([0.0, 1.0, 0.0])),
+                _axis_to_cylinder_orientation(np.array([0.0, 0.0, 1.0])),
+                _axis_to_cylinder_orientation(np.array([1.0, 0.0, 0.0])),
+                _axis_to_cylinder_orientation(np.array([0.0, 1.0, 0.0])),
+                _axis_to_cylinder_orientation(np.array([0.0, 0.0, 1.0])),
+            ],
+            dtype=np.float32,
+        ),
+        marker_indices=np.array([0, 1, 2, 0, 1, 2], dtype=np.int32),
+    )
+    return axis_markers
+
+
+def _make_point_marker_set(
+    sim_utils: Any,
+    VisualizationMarkers: Any,
+    VisualizationMarkersCfg: Any,
+    *,
+    prim_path: str,
+    radius: float,
+    anchor_x: float,
+    anchor_y: float,
+    robot_z: float,
+    color: tuple[float, float, float],
+) -> Any:
+    marker_cfg = VisualizationMarkersCfg(
+        prim_path=prim_path,
+        markers={
+            "point": sim_utils.SphereCfg(
+                radius=radius,
+                visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=color),
+            ),
+        },
+    )
+    point_markers = VisualizationMarkers(marker_cfg)
+    point_markers.visualize(
+        translations=np.array(
+            [[anchor_x, anchor_y, robot_z + 0.85]],
+            dtype=np.float32,
+        ),
+        marker_indices=np.array([0], dtype=np.int32),
+    )
+    return point_markers
+
+
+def create_debug_viz(
+    *,
+    sim_utils: Any,
+    VisualizationMarkers: Any,
+    VisualizationMarkersCfg: Any,
+    scene_config: DebugVizSceneConfig,
+    runtime_config: DebugVizRuntimeConfig,
+) -> DebugVizHandles:
+    handles = DebugVizHandles()
+    if not runtime_config.enabled:
+        return handles
+
+    marker_cfg = VisualizationMarkersCfg(
+        prim_path="/World/TeleopTargets/WristMarkers",
+        markers={
+            "left": sim_utils.SphereCfg(
+                radius=scene_config.wrist_marker_radius,
+                visual_material=sim_utils.PreviewSurfaceCfg(
+                    diffuse_color=(0.1, 0.35, 1.0)
+                ),
+            ),
+            "right": sim_utils.SphereCfg(
+                radius=scene_config.wrist_marker_radius,
+                visual_material=sim_utils.PreviewSurfaceCfg(
+                    diffuse_color=(1.0, 0.35, 0.1)
+                ),
+            ),
+        },
+    )
+    handles.wrist_markers = VisualizationMarkers(marker_cfg)
+    handles.wrist_markers.visualize(
+        translations=np.array(
+            [
+                [0.35, 0.25, scene_config.robot_z + 0.85],
+                [0.35, -0.25, scene_config.robot_z + 0.85],
+            ],
+            dtype=np.float32,
+        ),
+        marker_indices=np.array([0, 1], dtype=np.int32),
+    )
+
+    handles.wrist_frames = _make_axis_marker_set(
+        sim_utils,
+        VisualizationMarkers,
+        VisualizationMarkersCfg,
+        prim_path="/World/TeleopTargets/WristAxes",
+        axis_length=scene_config.wrist_axis_length,
+        axis_radius=scene_config.wrist_axis_radius,
+        anchor_x=0.35,
+        robot_z=scene_config.robot_z,
+        colors=((1.0, 0.1, 0.1), (0.1, 0.9, 0.1), (0.1, 0.3, 1.0)),
+    )
+
+    handles.robot_ee_frames = _make_axis_marker_set(
+        sim_utils,
+        VisualizationMarkers,
+        VisualizationMarkersCfg,
+        prim_path="/World/TeleopTargets/RobotEeAxes",
+        axis_length=scene_config.wrist_axis_length,
+        axis_radius=scene_config.wrist_axis_radius,
+        anchor_x=0.2,
+        robot_z=scene_config.robot_z,
+        colors=((1.0, 0.1, 0.1), (0.1, 0.9, 0.1), (0.1, 0.3, 1.0)),
+    )
+
+    handles.head_link_point = _make_point_marker_set(
+        sim_utils,
+        VisualizationMarkers,
+        VisualizationMarkersCfg,
+        prim_path="/World/TeleopTargets/RobotHeadLinkPoint",
+        radius=scene_config.wrist_marker_radius * 1.15,
+        anchor_x=-0.2,
+        anchor_y=0.0,
+        robot_z=scene_config.robot_z,
+        color=(0.1, 0.95, 0.95),
+    )
+    handles.head_link_frame = _make_axis_marker_set(
+        sim_utils,
+        VisualizationMarkers,
+        VisualizationMarkersCfg,
+        prim_path="/World/TeleopTargets/RobotHeadLinkAxes",
+        axis_length=scene_config.wrist_axis_length,
+        axis_radius=scene_config.wrist_axis_radius,
+        anchor_x=-0.2,
+        robot_z=scene_config.robot_z,
+        colors=((1.0, 0.1, 0.1), (0.1, 0.9, 0.1), (0.1, 0.3, 1.0)),
+    )
+
+    return handles
+
+
+def update_wrist_markers(
+    point_markers: Any | None,
+    frame_markers: Any | None,
+    target_poses: Mapping[str, FramePose],
+    axis_length: float,
+) -> None:
+    if point_markers is None and frame_markers is None:
+        return
+
+    translations: list[np.ndarray] = []
+    marker_indices: list[int] = []
+    axis_translations: list[np.ndarray] = []
+    axis_orientations: list[np.ndarray] = []
+    axis_indices: list[int] = []
+    for marker_index, side in enumerate(("left", "right")):
+        target = target_poses.get(side)
+        if target is None:
+            continue
+        position, rotation = target
+        if point_markers is not None:
+            translations.append(position)
+            marker_indices.append(marker_index)
+        if frame_markers is not None:
+            for axis_index in range(3):
+                axis = rotation[:, axis_index]
+                axis_translations.append(
+                    position + axis.astype(np.float32) * 0.5 * axis_length
+                )
+                axis_orientations.append(_axis_to_cylinder_orientation(axis))
+                axis_indices.append(axis_index)
+    if point_markers is not None and translations:
+        point_markers.visualize(
+            translations=np.stack(translations),
+            marker_indices=np.asarray(marker_indices, dtype=np.int32),
+        )
+    if frame_markers is not None and axis_translations:
+        frame_markers.visualize(
+            translations=np.stack(axis_translations),
+            orientations=np.stack(axis_orientations),
+            marker_indices=np.asarray(axis_indices, dtype=np.int32),
+        )
+
+
+def update_frame_axis_markers(
+    frame_markers: Any | None,
+    frame_poses: Mapping[str, FramePose],
+    axis_length: float,
+) -> None:
+    if frame_markers is None:
+        return
+    axis_translations: list[np.ndarray] = []
+    axis_orientations: list[np.ndarray] = []
+    axis_indices: list[int] = []
+    for side in ("left", "right"):
+        frame_pose = frame_poses.get(side)
+        if frame_pose is None:
+            continue
+
+        position, rotation = frame_pose
+        for axis_index in range(3):
+            axis = rotation[:, axis_index]
+            axis_translations.append(
+                position + axis.astype(np.float32) * 0.5 * axis_length
+            )
+            axis_orientations.append(_axis_to_cylinder_orientation(axis))
+            axis_indices.append(axis_index)
+    if axis_translations:
+        frame_markers.visualize(
+            translations=np.stack(axis_translations),
+            orientations=np.stack(axis_orientations),
+            marker_indices=np.asarray(axis_indices, dtype=np.int32),
+        )
+
+
+def update_point_marker(
+    point_markers: Any | None,
+    frame_pose: FramePose | None,
+) -> None:
+    if point_markers is None or frame_pose is None:
+        return
+    position, _rotation = frame_pose
+    point_markers.visualize(
+        translations=np.asarray([position], dtype=np.float32),
+        marker_indices=np.array([0], dtype=np.int32),
+    )
+
+
+def update_head_marker(
+    handles: DebugVizHandles,
+    *,
+    head_link_prim: Any | None,
+    xform_cache: Any | None,
+) -> None:
+    if head_link_prim is None or xform_cache is None:
+        return
+
+    xform_cache.Clear()
+    head_world = xform_cache.GetLocalToWorldTransform(head_link_prim)
+    head_translation = np.asarray(head_world.ExtractTranslation(), dtype=np.float32)
+    head_rotation = np.asarray(head_world.ExtractRotationMatrix(), dtype=np.float32)
+    head_pose = (head_translation, head_rotation)
+    update_point_marker(handles.head_link_point, head_pose)
+    update_frame_axis_markers(
+        handles.head_link_frame,
+        {"head": head_pose},
+        axis_length=0.18,
+    )
+
+
+def sample_target_poses(
+    sample: Mapping[str, Any],
+    *,
+    resolve_marker_pose: MarkerPoseResolver,
+) -> dict[str, FramePose]:
+    target_poses: dict[str, FramePose] = {}
+    for side in ("left", "right"):
+        ee_poses = sample.get("ee_poses", {})
+        pose = ee_poses.get(side) if isinstance(ee_poses, Mapping) else None
+        if pose is None:
+            continue
+        target = resolve_marker_pose(side, pose)
+        if target is None:
+            continue
+        target_poses[side] = target
+    return target_poses
+
+
+def _axis_to_cylinder_orientation(axis: np.ndarray) -> np.ndarray:
+    axis = np.asarray(axis, dtype=np.float64)
+    axis_norm = np.linalg.norm(axis)
+    if axis_norm < 1.0e-8:
+        return np.array([0.0, 0.0, 0.0, 1.0], dtype=np.float32)
+    z_axis = np.array([0.0, 0.0, 1.0], dtype=np.float64)
+    target = axis / axis_norm
+    dot = float(np.clip(np.dot(z_axis, target), -1.0, 1.0))
+    if dot > 1.0 - 1.0e-8:
+        return np.array([0.0, 0.0, 0.0, 1.0], dtype=np.float32)
+    if dot < -1.0 + 1.0e-8:
+        return np.array([1.0, 0.0, 0.0, 0.0], dtype=np.float32)
+    rot_axis = np.cross(z_axis, target)
+    rot_axis /= np.linalg.norm(rot_axis)
+    angle = np.arccos(dot)
+    half = angle * 0.5
+    quat = np.concatenate((rot_axis * np.sin(half), [np.cos(half)])).astype(np.float32)
+    quat /= np.linalg.norm(quat)
+    return quat
diff --git a/examples/g1_wuji_teleop/python/g1_wuji_teleop/robots/g1_wuji/runtime.py b/examples/g1_wuji_teleop/python/g1_wuji_teleop/robots/g1_wuji/runtime.py
new file mode 100644
index 000000000..e86d76618
--- /dev/null
+++ b/examples/g1_wuji_teleop/python/g1_wuji_teleop/robots/g1_wuji/runtime.py
@@ -0,0 +1,1419 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""MANUS and AVP data helpers for the G1-Wuji teleop example."""
+
+from __future__ import annotations
+
+import sys
+import time
+from collections.abc import Mapping, Sequence
+from dataclasses import dataclass, field
+from pathlib import Path
+from typing import Any
+
+import numpy as np
+
+from ...paths import app_root
+
+LEFT_WUJI_JOINTS = (
+    "left_finger1_joint1",
+    "left_finger1_joint2",
+    "left_finger1_joint3",
+    "left_finger1_joint4",
+    "left_finger2_joint1",
+    "left_finger2_joint2",
+    "left_finger2_joint3",
+    "left_finger2_joint4",
+    "left_finger3_joint1",
+    "left_finger3_joint2",
+    "left_finger3_joint3",
+    "left_finger3_joint4",
+    "left_finger4_joint1",
+    "left_finger4_joint2",
+    "left_finger4_joint3",
+    "left_finger4_joint4",
+    "left_finger5_joint1",
+    "left_finger5_joint2",
+    "left_finger5_joint3",
+    "left_finger5_joint4",
+)
+
+RIGHT_WUJI_JOINTS = tuple(
+    name.replace("left_", "right_", 1) for name in LEFT_WUJI_JOINTS
+)
+
+WUJI_SKELETON21_OPENXR_NAMES = (
+    "wrist",
+    "thumb_metacarpal",
+    "thumb_proximal",
+    "thumb_distal",
+    "thumb_tip",
+    "index_proximal",
+    "index_intermediate",
+    "index_distal",
+    "index_tip",
+    "middle_proximal",
+    "middle_intermediate",
+    "middle_distal",
+    "middle_tip",
+    "ring_proximal",
+    "ring_intermediate",
+    "ring_distal",
+    "ring_tip",
+    "little_proximal",
+    "little_intermediate",
+    "little_distal",
+    "little_tip",
+)
+
+FIXED_WUJI_HAND_CONFIG_DIR = "official/g1_wuji"
+
+
+def _default_wuji_initial_joint_positions() -> dict[str, float]:
+    return {
+        "left_finger1_joint1": 0.059,
+        "left_finger1_joint2": 0.059,
+        "left_finger1_joint3": 0.059,
+        "left_finger1_joint4": 0.0,
+        "left_finger2_joint1": 0.0,
+        "left_finger2_joint2": 0.0,
+        "left_finger2_joint3": 0.0,
+        "left_finger2_joint4": 0.0,
+        "left_finger3_joint1": 0.0,
+        "left_finger3_joint2": 0.0,
+        "left_finger3_joint3": 0.0,
+        "left_finger3_joint4": 0.0,
+        "left_finger4_joint1": 0.0,
+        "left_finger4_joint2": 0.0,
+        "left_finger4_joint3": 0.0,
+        "left_finger4_joint4": 0.0,
+        "left_finger5_joint1": 0.0,
+        "left_finger5_joint2": 0.0,
+        "left_finger5_joint3": 0.0,
+        "left_finger5_joint4": 0.0,
+        "right_finger1_joint1": 0.037,
+        "right_finger1_joint2": 0.037,
+        "right_finger1_joint3": 0.037,
+        "right_finger1_joint4": 0.0,
+        "right_finger2_joint1": 0.0,
+        "right_finger2_joint2": 0.0,
+        "right_finger2_joint3": 0.0,
+        "right_finger2_joint4": 0.0,
+        "right_finger3_joint1": 0.0,
+        "right_finger3_joint2": 0.0,
+        "right_finger3_joint3": 0.0,
+        "right_finger3_joint4": 0.0,
+        "right_finger4_joint1": 0.0,
+        "right_finger4_joint2": 0.0,
+        "right_finger4_joint3": 0.0,
+        "right_finger4_joint4": 0.0,
+        "right_finger5_joint1": 0.0,
+        "right_finger5_joint2": 0.0,
+        "right_finger5_joint3": 0.0,
+        "right_finger5_joint4": 0.0,
+    }
+
+
+@dataclass(frozen=True)
+class RobotProfile:
+    variant: str
+    robot_prim: str
+    default_usd_relpath: str
+    left_hand_joint_names: tuple[str, ...]
+    right_hand_joint_names: tuple[str, ...]
+    initial_hand_joint_positions: dict[str, float]
+    hand_retarget_backend: str
+    hand_wuji_config_dir: str | None
+    ik_body_names: dict[str, str]
+    ik_body_offset_pos: dict[str, tuple[float, float, float]]
+    ik_body_offset_quat_xyzw: dict[str, tuple[float, float, float, float]]
+    ik_target_orientation_correction_quat_xyzw: dict[
+        str, tuple[float, float, float, float]
+    ]
+    reference_body: str
+    reference_offset_pos: tuple[float, float, float]
+    reference_offset_quat_xyzw: tuple[float, float, float, float]
+    axis_signs: dict[str, float]
+    status_label: str
+
+
+ROBOT_PROFILES: dict[str, RobotProfile] = {
+    "g1_wuji": RobotProfile(
+        variant="g1_wuji",
+        robot_prim="/World/G1Wuji",
+        default_usd_relpath="assets/g1_wuji/g1_wuji.usd",
+        left_hand_joint_names=LEFT_WUJI_JOINTS,
+        right_hand_joint_names=RIGHT_WUJI_JOINTS,
+        initial_hand_joint_positions=_default_wuji_initial_joint_positions(),
+        hand_retarget_backend="wuji",
+        hand_wuji_config_dir=FIXED_WUJI_HAND_CONFIG_DIR,
+        ik_body_names={
+            "left": "left_wrist_yaw_link",
+            "right": "right_wrist_yaw_link",
+        },
+        ik_body_offset_pos={
+            "left": (0.0415, 0.003, 0.0),
+            "right": (0.0415, -0.003, 0.0),
+        },
+        ik_body_offset_quat_xyzw={
+            "left": (0.0, 0.0, 0.0, 1.0),
+            "right": (0.0, 0.0, 0.0, 1.0),
+        },
+        ik_target_orientation_correction_quat_xyzw={
+            "left": (0.5, 0.5, 0.5, 0.5),
+            "right": (-0.5, 0.5, 0.5, -0.5),
+        },
+        reference_body="torso_link",
+        reference_offset_pos=(0.0077774, 0.0000210, 0.3836842),
+        reference_offset_quat_xyzw=(0.0, 0.0, 0.0, 1.0),
+        axis_signs={},
+        status_label="G1-Wuji",
+    ),
+}
+
+
+def normalize_robot_variant(value: Any) -> str:
+    raw = str(value or "g1_wuji").strip().lower()
+    aliases = {
+        "g1wuji": "g1_wuji",
+        "g1-wuji": "g1_wuji",
+        "wuji": "g1_wuji",
+    }
+    normalized = aliases.get(raw, raw)
+    if normalized not in ROBOT_PROFILES:
+        raise ValueError(
+            f"Unsupported robot.variant={value!r}. Expected one of {sorted(ROBOT_PROFILES)}"
+        )
+    return normalized
+
+
+def robot_profile_from_config(config: Mapping[str, Any]) -> RobotProfile:
+    robot_config = config.get("robot", {})
+    if robot_config is None:
+        robot_config = {}
+    if not isinstance(robot_config, Mapping):
+        raise ValueError("Config field 'robot' must be a mapping")
+    return ROBOT_PROFILES[normalize_robot_variant(robot_config.get("variant"))]
+
+
+@dataclass(frozen=True)
+class WujiHandRuntimeConfig:
+    robot_variant: str = "g1_wuji"
+    neutral_calibration_samples: int = 30
+    initial_joint_position: float = 0.0
+    initial_joint_positions: dict[str, float] = field(
+        default_factory=_default_wuji_initial_joint_positions
+    )
+    left_joint_names: tuple[str, ...] = LEFT_WUJI_JOINTS
+    right_joint_names: tuple[str, ...] = RIGHT_WUJI_JOINTS
+    axis_signs: dict[str, float] = field(default_factory=dict)
+    retarget_backend: str = "wuji"
+    status_label: str = "teleop"
+    wuji_config_dir: Path | None = None
+    retarget_output_mode: str = "absolute"
+    clamp_to_joint_limits: bool = True
+    smoothing_alpha: float = 0.8
+
+
+@dataclass(frozen=True)
+class AvpFrameBindingRuntimeConfig:
+    status_label: str = "teleop"
+    enabled: bool = True
+    calibration_window_s: float = 3.0
+    robot_reference_body: str = "torso_link"
+    robot_reference_offset_pos: tuple[float, float, float] = (0.0, 0.0, 0.0)
+    robot_reference_offset_quat_xyzw: tuple[float, float, float, float] = (
+        0.0,
+        0.0,
+        0.0,
+        1.0,
+    )
+    head_forward_axis_isaac: tuple[float, float, float] = (0.0, 1.0, 0.0)
+    whole_body_yaw_following: bool = True
+    whole_body_yaw_deadband_rad: float = 0.03
+    whole_body_yaw_smoothing_alpha: float = 0.2
+
+
+@dataclass
+class _AvpHeadHandBindingState:
+    origin_pos: np.ndarray
+    frame_rot: np.ndarray
+    head_rot: np.ndarray
+
+
+@dataclass
+class _AvpPendingHeadHandCalibration:
+    start_timestamp_s: float
+    last_timestamp_s: float
+    sample_count: int = 0
+    head_pos_sum: np.ndarray = field(
+        default_factory=lambda: np.zeros(3, dtype=np.float64)
+    )
+    head_rot_sum: np.ndarray = field(
+        default_factory=lambda: np.zeros((3, 3), dtype=np.float64)
+    )
+    left_pos_sum: np.ndarray = field(
+        default_factory=lambda: np.zeros(3, dtype=np.float64)
+    )
+    right_pos_sum: np.ndarray = field(
+        default_factory=lambda: np.zeros(3, dtype=np.float64)
+    )
+
+    def append(
+        self,
+        *,
+        timestamp_s: float,
+        head_pos: np.ndarray,
+        head_rot: np.ndarray,
+        left_pos: np.ndarray,
+        right_pos: np.ndarray,
+    ) -> None:
+        self.last_timestamp_s = float(timestamp_s)
+        self.sample_count += 1
+        self.head_pos_sum += np.asarray(head_pos, dtype=np.float64)
+        self.head_rot_sum += np.asarray(head_rot, dtype=np.float64)
+        self.left_pos_sum += np.asarray(left_pos, dtype=np.float64)
+        self.right_pos_sum += np.asarray(right_pos, dtype=np.float64)
+
+
+class HandTargetPostProcessor:
+    """Map MANUS retarget qpos into stable USD joint position targets."""
+
+    def __init__(
+        self,
+        *,
+        joint_names: Sequence[str],
+        initial_targets: np.ndarray,
+        joint_limits: np.ndarray | None,
+        config: WujiHandRuntimeConfig,
+        side: str,
+    ) -> None:
+        self._joint_names = tuple(joint_names)
+        self._initial_targets = np.asarray(initial_targets, dtype=np.float32)
+        self._joint_limits = (
+            None if joint_limits is None else np.asarray(joint_limits, dtype=np.float32)
+        )
+        self._config = config
+        self._side = side
+        self._neutral_samples: list[np.ndarray] = []
+        self._neutral: np.ndarray | None = None
+        self._last_target: np.ndarray | None = None
+        self._announced = False
+
+    @property
+    def ready(self) -> bool:
+        return (
+            self._config.neutral_calibration_samples <= 0 or self._neutral is not None
+        )
+
+    def process(self, raw_targets: np.ndarray | None) -> np.ndarray | None:
+        if raw_targets is None:
+            return self._last_target
+
+        raw = np.asarray(raw_targets, dtype=np.float32)
+        if raw.shape != self._initial_targets.shape:
+            raise ValueError(
+                f"{self._side} {self._config.status_label} target shape mismatch: expected "
+                f"{self._initial_targets.shape}, got {raw.shape}"
+            )
+
+        if self._config.retarget_output_mode == "absolute":
+            target = raw
+        elif self._config.neutral_calibration_samples > 0 and self._neutral is None:
+            self._neutral_samples.append(raw.copy())
+            if len(self._neutral_samples) >= self._config.neutral_calibration_samples:
+                self._neutral = np.mean(np.stack(self._neutral_samples), axis=0).astype(
+                    np.float32
+                )
+                print(
+                    f"[{self._config.status_label}] {self._side} neutral calibrated with "
+                    f"{len(self._neutral_samples)} sample(s)."
+                )
+            if self._last_target is not None:
+                return self._last_target
+            return self._initial_targets.copy()
+
+        else:
+            neutral = self._neutral if self._neutral is not None else np.zeros_like(raw)
+            target = self._initial_targets + (raw - neutral)
+
+        if self._config.clamp_to_joint_limits and self._joint_limits is not None:
+            target = np.clip(target, self._joint_limits[:, 0], self._joint_limits[:, 1])
+
+        if self._last_target is not None and self._config.smoothing_alpha < 1.0:
+            alpha = self._config.smoothing_alpha
+            target = self._last_target * (1.0 - alpha) + target * alpha
+
+        self._last_target = target.astype(np.float32)
+        if not self._announced:
+            print(
+                f"[{self._config.status_label}] {self._side} hand postprocess active: "
+                f"mode={self._config.retarget_output_mode}, "
+                f"neutral_samples={self._config.neutral_calibration_samples}, "
+                f"clamp={self._config.clamp_to_joint_limits}, "
+                f"smoothing_alpha={self._config.smoothing_alpha}."
+            )
+            self._announced = True
+        return self._last_target
+
+
+def wuji_hand_runtime_config(config: Mapping[str, Any]) -> WujiHandRuntimeConfig:
+    profile = robot_profile_from_config(config)
+    wuji_config_dir = None
+    if profile.hand_wuji_config_dir is not None:
+        wuji_config_dir = _resolve_config_relative_path(
+            profile.hand_wuji_config_dir, config
+        )
+        if wuji_config_dir is None or not wuji_config_dir.is_dir():
+            raise FileNotFoundError(
+                f"Fixed {profile.status_label} Wuji retarget config directory does not exist: "
+                f"{wuji_config_dir}"
+            )
+
+    return WujiHandRuntimeConfig(
+        robot_variant=profile.variant,
+        initial_joint_positions=dict(profile.initial_hand_joint_positions),
+        left_joint_names=profile.left_hand_joint_names,
+        right_joint_names=profile.right_hand_joint_names,
+        axis_signs=dict(profile.axis_signs),
+        retarget_backend=profile.hand_retarget_backend,
+        status_label=profile.status_label,
+        wuji_config_dir=wuji_config_dir,
+    )
+
+
+def avp_frame_binding_runtime_config(
+    config: Mapping[str, Any],
+) -> AvpFrameBindingRuntimeConfig:
+    profile = robot_profile_from_config(config)
+    robot_config = config.get("robot", {})
+    if robot_config is None:
+        robot_config = {}
+    if not isinstance(robot_config, Mapping):
+        raise ValueError("Config field 'robot' must be a mapping")
+
+    binding_config = robot_config.get("avp_frame_binding", {})
+    if binding_config is None:
+        binding_config = {}
+    if not isinstance(binding_config, Mapping):
+        raise ValueError("Config field 'robot.avp_frame_binding' must be a mapping")
+    calibration_window_s = float(binding_config.get("calibration_window_s", 3.0))
+    if calibration_window_s < 0.0:
+        raise ValueError(
+            "Config field 'robot.avp_frame_binding.calibration_window_s' must be >= 0"
+        )
+    whole_body_yaw_deadband_rad = float(
+        binding_config.get("whole_body_yaw_deadband_rad", 0.03)
+    )
+    if whole_body_yaw_deadband_rad < 0.0:
+        raise ValueError(
+            "Config field 'robot.avp_frame_binding.whole_body_yaw_deadband_rad' "
+            "must be >= 0"
+        )
+    whole_body_yaw_smoothing_alpha = float(
+        binding_config.get("whole_body_yaw_smoothing_alpha", 0.2)
+    )
+    if not 0.0 <= whole_body_yaw_smoothing_alpha <= 1.0:
+        raise ValueError(
+            "Config field 'robot.avp_frame_binding.whole_body_yaw_smoothing_alpha' "
+            "must be in [0, 1]"
+        )
+
+    return AvpFrameBindingRuntimeConfig(
+        status_label=profile.status_label,
+        enabled=bool(binding_config.get("enabled", True)),
+        calibration_window_s=calibration_window_s,
+        robot_reference_body=str(
+            binding_config.get("robot_reference_body", profile.reference_body)
+        ),
+        robot_reference_offset_pos=_float_tuple(
+            binding_config.get("robot_reference_offset_pos"),
+            name="robot.avp_frame_binding.robot_reference_offset_pos",
+            length=3,
+            default=profile.reference_offset_pos,
+        ),
+        robot_reference_offset_quat_xyzw=_float_tuple(
+            binding_config.get("robot_reference_offset_quat_xyzw"),
+            name="robot.avp_frame_binding.robot_reference_offset_quat_xyzw",
+            length=4,
+            default=profile.reference_offset_quat_xyzw,
+        ),
+        head_forward_axis_isaac=_float_tuple(
+            binding_config.get("head_forward_axis_isaac"),
+            name="robot.avp_frame_binding.head_forward_axis_isaac",
+            length=3,
+            default=(0.0, 1.0, 0.0),
+        ),
+        whole_body_yaw_following=bool(
+            binding_config.get("whole_body_yaw_following", True)
+        ),
+        whole_body_yaw_deadband_rad=whole_body_yaw_deadband_rad,
+        whole_body_yaw_smoothing_alpha=whole_body_yaw_smoothing_alpha,
+    )
+
+
+def ensure_teleop_import_paths(example_dir: Path, repo_root: Path) -> None:
+    """Make the local teleop example and build tree importable from Isaac Lab Python."""
+    candidates = (
+        example_dir,
+        repo_root / "build-local" / "python_package" / "Release",
+    )
+    for path in candidates:
+        if path.exists():
+            path_str = str(path)
+            if path_str not in sys.path:
+                sys.path.insert(0, path_str)
+
+
+def openxr_to_isaac_position(
+    position: Sequence[float], scale: float, offset_z: float
+) -> np.ndarray:
+    x, y, z = (float(v) for v in position)
+    position_isaac = np.array([x, -z, y], dtype=np.float32) * float(scale)
+    return position_isaac + np.array([0.0, 0.0, offset_z], dtype=np.float32)
+
+
+def quat_xyzw_to_matrix(quat: Sequence[float]) -> np.ndarray:
+    x, y, z, w = (float(v) for v in quat)
+    norm = (x * x + y * y + z * z + w * w) ** 0.5
+    if norm < 1.0e-8:
+        return np.eye(3, dtype=np.float64)
+    x /= norm
+    y /= norm
+    z /= norm
+    w /= norm
+    return np.array(
+        [
+            [1.0 - 2.0 * (y * y + z * z), 2.0 * (x * y - z * w), 2.0 * (x * z + y * w)],
+            [2.0 * (x * y + z * w), 1.0 - 2.0 * (x * x + z * z), 2.0 * (y * z - x * w)],
+            [2.0 * (x * z - y * w), 2.0 * (y * z + x * w), 1.0 - 2.0 * (x * x + y * y)],
+        ],
+        dtype=np.float64,
+    )
+
+
+def matrix_to_quat_xyzw(matrix: np.ndarray) -> np.ndarray:
+    m = np.asarray(matrix, dtype=np.float64)
+    trace = float(np.trace(m))
+    if trace > 0.0:
+        s = (trace + 1.0) ** 0.5 * 2.0
+        w = 0.25 * s
+        x = (m[2, 1] - m[1, 2]) / s
+        y = (m[0, 2] - m[2, 0]) / s
+        z = (m[1, 0] - m[0, 1]) / s
+    elif m[0, 0] > m[1, 1] and m[0, 0] > m[2, 2]:
+        s = (1.0 + m[0, 0] - m[1, 1] - m[2, 2]) ** 0.5 * 2.0
+        w = (m[2, 1] - m[1, 2]) / s
+        x = 0.25 * s
+        y = (m[0, 1] + m[1, 0]) / s
+        z = (m[0, 2] + m[2, 0]) / s
+    elif m[1, 1] > m[2, 2]:
+        s = (1.0 + m[1, 1] - m[0, 0] - m[2, 2]) ** 0.5 * 2.0
+        w = (m[0, 2] - m[2, 0]) / s
+        x = (m[0, 1] + m[1, 0]) / s
+        y = 0.25 * s
+        z = (m[1, 2] + m[2, 1]) / s
+    else:
+        s = (1.0 + m[2, 2] - m[0, 0] - m[1, 1]) ** 0.5 * 2.0
+        w = (m[1, 0] - m[0, 1]) / s
+        x = (m[0, 2] + m[2, 0]) / s
+        y = (m[1, 2] + m[2, 1]) / s
+        z = 0.25 * s
+    quat = np.array([x, y, z, w], dtype=np.float32)
+    quat_norm = np.linalg.norm(quat)
+    if quat_norm > 1.0e-8:
+        quat /= quat_norm
+    return quat
+
+
+def openxr_to_isaac_orientation(orientation_xyzw: Sequence[float]) -> np.ndarray:
+    return matrix_to_quat_xyzw(openxr_to_isaac_rotation_matrix(orientation_xyzw))
+
+
+def openxr_to_isaac_rotation_matrix(orientation_xyzw: Sequence[float]) -> np.ndarray:
+    frame = np.array(
+        [[1.0, 0.0, 0.0], [0.0, 0.0, -1.0], [0.0, 1.0, 0.0]],
+        dtype=np.float64,
+    )
+    return frame @ quat_xyzw_to_matrix(orientation_xyzw) @ frame.T
+
+
+def normalize_quat_xyzw(quat: Sequence[float]) -> np.ndarray:
+    out = np.asarray(quat, dtype=np.float32)
+    norm = np.linalg.norm(out)
+    if norm < 1.0e-8:
+        return np.array([0.0, 0.0, 0.0, 1.0], dtype=np.float32)
+    return out / norm
+
+
+def openxr_pose_to_isaac_pose(
+    pose: Mapping[str, Any],
+    *,
+    scale: float,
+    offset_z: float,
+) -> tuple[np.ndarray, np.ndarray]:
+    return (
+        openxr_to_isaac_position(pose["position"], scale, offset_z),
+        openxr_to_isaac_orientation(pose["orientation_xyzw"]),
+    )
+
+
+def resolve_marker_pose(
+    side: str,
+    pose: Mapping[str, Any],
+    *,
+    marker_scale: float,
+    marker_z_offset: float,
+    pose_binding: AvpRobotFrameBinding | None,
+) -> tuple[np.ndarray, np.ndarray] | None:
+    if pose_binding is not None:
+        target_pose = pose_binding.transform_pose(side, pose)
+        if target_pose is None:
+            return None
+        position, orientation_xyzw = target_pose
+        return position, quat_xyzw_to_matrix(orientation_xyzw)
+
+    return (
+        openxr_to_isaac_position(pose["position"], marker_scale, marker_z_offset),
+        openxr_to_isaac_rotation_matrix(pose["orientation_xyzw"]),
+    )
+
+
+class AvpRobotFrameBinding:
+    """Bind a startup head-hand AVP frame to the robot reference body."""
+
+    def __init__(
+        self,
+        robot: Any,
+        arm_ik_config: Any,
+        config: AvpFrameBindingRuntimeConfig,
+        *,
+        marker_scale: float,
+        marker_z_offset: float,
+    ) -> None:
+        _ = arm_ik_config
+        self._robot = robot
+        self._config = config
+        self._marker_scale = float(marker_scale)
+        self._marker_z_offset = float(marker_z_offset)
+        self._reference_body_id = _find_single_body_id(
+            robot,
+            config.robot_reference_body,
+            "AVP robot reference body",
+        )
+        self._reference_offset_pos = np.asarray(
+            config.robot_reference_offset_pos, dtype=np.float64
+        )
+        self._reference_offset_rot = quat_xyzw_to_matrix(
+            config.robot_reference_offset_quat_xyzw
+        )
+        self._head_forward_axis = _unit_vector(config.head_forward_axis_isaac)
+        if self._head_forward_axis is None:
+            raise ValueError(
+                "Config field 'robot.avp_frame_binding.head_forward_axis_isaac' "
+                "must be non-zero"
+            )
+        self._state: _AvpHeadHandBindingState | None = None
+        self._pending_calibration: _AvpPendingHeadHandCalibration | None = None
+        self._waiting_announced = False
+        self._runtime_frame_rot: np.ndarray | None = None
+        self._latest_head_yaw_delta_rad = 0.0
+        self._latest_head_tilt_delta_rot = np.eye(3, dtype=np.float64)
+
+    def update_calibration(self, sample: Mapping[str, Any]) -> None:
+        if not self._config.enabled or self._state is not None:
+            return
+
+        timestamp_s = _sample_timestamp_s(sample)
+        pending = self._pending_calibration
+        calibration = self._calibration_inputs(sample)
+        if pending is None and calibration is None:
+            self._maybe_log_waiting(sample)
+            return
+
+        if pending is None:
+            pending = _AvpPendingHeadHandCalibration(
+                start_timestamp_s=timestamp_s,
+                last_timestamp_s=timestamp_s,
+            )
+            self._pending_calibration = pending
+            print(
+                f"[{self._config.status_label}] collecting AVP head-hand calibration samples "
+                f"frame={int(sample.get('frame_count', 0))} "
+                f"window_s={self._config.calibration_window_s:.2f}.",
+                flush=True,
+            )
+
+        if calibration is not None:
+            head_pos, head_rot, left_pos, right_pos = calibration
+            pending.append(
+                timestamp_s=timestamp_s,
+                head_pos=head_pos,
+                head_rot=head_rot,
+                left_pos=left_pos,
+                right_pos=right_pos,
+            )
+
+        elapsed_s = max(0.0, timestamp_s - pending.start_timestamp_s)
+        if elapsed_s < self._config.calibration_window_s:
+            return
+
+        if pending.sample_count <= 0:
+            self._pending_calibration = None
+            self._waiting_announced = False
+            self._maybe_log_waiting(
+                sample,
+                reason=(
+                    "calibration window elapsed without valid head/hand samples "
+                    f"elapsed_s={elapsed_s:.3f}"
+                ),
+            )
+            return
+
+        averaged_head_pos = pending.head_pos_sum / float(pending.sample_count)
+        averaged_head_rot = _average_rotation_matrix(pending.head_rot_sum)
+        averaged_left_pos = pending.left_pos_sum / float(pending.sample_count)
+        averaged_right_pos = pending.right_pos_sum / float(pending.sample_count)
+        if averaged_head_rot is None:
+            self._pending_calibration = None
+            self._waiting_announced = False
+            self._maybe_log_waiting(
+                sample,
+                reason=(
+                    "averaged head rotation was degenerate "
+                    f"samples={pending.sample_count} elapsed_s={elapsed_s:.3f}"
+                ),
+            )
+            return
+
+        frame_rot = _head_hand_frame_rotation(
+            head_rot=averaged_head_rot,
+            left_pos=averaged_left_pos,
+            right_pos=averaged_right_pos,
+            head_forward_axis=self._head_forward_axis,
+        )
+        if frame_rot is None:
+            wrist_delta = averaged_left_pos - averaged_right_pos
+            self._pending_calibration = None
+            self._waiting_announced = False
+            self._maybe_log_waiting(
+                sample,
+                reason=(
+                    "degenerate averaged head/hand axes "
+                    f"samples={pending.sample_count} elapsed_s={elapsed_s:.3f} "
+                    f"head={np.round(averaged_head_pos, 4).tolist()} "
+                    f"left={np.round(averaged_left_pos, 4).tolist()} "
+                    f"right={np.round(averaged_right_pos, 4).tolist()} "
+                    f"left_right_norm={float(np.linalg.norm(wrist_delta)):.6f}"
+                ),
+            )
+            return
+
+        self._state = _AvpHeadHandBindingState(
+            origin_pos=averaged_head_pos,
+            frame_rot=frame_rot,
+            head_rot=averaged_head_rot,
+        )
+        self._runtime_frame_rot = frame_rot.copy()
+        self._latest_head_yaw_delta_rad = 0.0
+        self._latest_head_tilt_delta_rot = np.eye(3, dtype=np.float64)
+        self._pending_calibration = None
+        self._announce_calibration(
+            sample,
+            averaged_head_pos,
+            frame_rot,
+            elapsed_s=elapsed_s,
+            sample_count=pending.sample_count,
+        )
+
+    def reset_calibration(self) -> None:
+        self._state = None
+        self._pending_calibration = None
+        self._waiting_announced = False
+        self._runtime_frame_rot = None
+        self._latest_head_yaw_delta_rad = 0.0
+        self._latest_head_tilt_delta_rot = np.eye(3, dtype=np.float64)
+        print(
+            f"[{self._config.status_label}] AVP head-hand frame calibration cleared; "
+            "waiting for fresh calibration.",
+            flush=True,
+        )
+
+    def update_runtime_state(self, sample: Mapping[str, Any]) -> None:
+        state = self._state
+        if not self._config.enabled or state is None:
+            self._runtime_frame_rot = None
+            self._latest_head_yaw_delta_rad = 0.0
+            self._latest_head_tilt_delta_rot = np.eye(3, dtype=np.float64)
+            return
+
+        if self._runtime_frame_rot is None:
+            self._runtime_frame_rot = state.frame_rot
+
+        head_pose = sample.get("head_pose")
+        if head_pose is None:
+            return
+
+        current_head_rot = openxr_to_isaac_rotation_matrix(
+            head_pose["orientation_xyzw"]
+        )
+        head_tilt_delta_rot = _head_tilt_delta_rotation(
+            calibration_head_rot=state.head_rot,
+            current_head_rot=current_head_rot,
+            head_forward_axis=self._head_forward_axis,
+        )
+        if head_tilt_delta_rot is not None:
+            self._latest_head_tilt_delta_rot = head_tilt_delta_rot
+
+        if not self._config.whole_body_yaw_following:
+            self._runtime_frame_rot = state.frame_rot
+            self._latest_head_yaw_delta_rad = 0.0
+            return
+
+        dynamic_frame_rot, yaw_delta_rad = _dynamic_head_frame_rotation(
+            calibration_frame_rot=state.frame_rot,
+            head_rot=current_head_rot,
+            head_forward_axis=self._head_forward_axis,
+        )
+        if dynamic_frame_rot is None or yaw_delta_rad is None:
+            return
+        if abs(yaw_delta_rad) <= self._config.whole_body_yaw_deadband_rad:
+            dynamic_frame_rot = state.frame_rot
+            yaw_delta_rad = 0.0
+
+        self._runtime_frame_rot = dynamic_frame_rot
+        self._latest_head_yaw_delta_rad = float(yaw_delta_rad)
+
+    @property
+    def whole_body_yaw_following_enabled(self) -> bool:
+        return self._config.enabled and self._config.whole_body_yaw_following
+
+    @property
+    def calibrated(self) -> bool:
+        return self._state is not None
+
+    def latest_head_yaw_delta_rad(self) -> float:
+        return float(self._latest_head_yaw_delta_rad)
+
+    def latest_head_tilt_delta_rot(self) -> np.ndarray:
+        return np.array(self._latest_head_tilt_delta_rot, copy=True)
+
+    def transform_pose(
+        self,
+        side: str,
+        pose: Mapping[str, Any],
+    ) -> tuple[np.ndarray, np.ndarray] | None:
+        raw_pos, raw_quat = openxr_pose_to_isaac_pose(
+            pose,
+            scale=self._marker_scale,
+            offset_z=self._marker_z_offset,
+        )
+        if not self._config.enabled:
+            return raw_pos, raw_quat
+
+        state = self._state
+        if state is None:
+            return None
+
+        frame_rot = self._runtime_frame_rot
+        if frame_rot is None:
+            frame_rot = state.frame_rot
+        raw_rot = quat_xyzw_to_matrix(raw_quat)
+        local_pos = frame_rot.T @ (
+            np.asarray(raw_pos, dtype=np.float64) - state.origin_pos
+        )
+        local_rot = frame_rot.T @ raw_rot
+        reference_pos, reference_rot = self._current_reference_world_pose()
+        target_pos = reference_pos + reference_rot @ local_pos
+        target_rot = reference_rot @ local_rot
+        return target_pos.astype(np.float32), matrix_to_quat_xyzw(target_rot)
+
+    def _current_reference_world_pose(self) -> tuple[np.ndarray, np.ndarray]:
+        body_pos, body_rot = _body_pose_np(self._robot, self._reference_body_id)
+        return (
+            body_pos + body_rot @ self._reference_offset_pos,
+            body_rot @ self._reference_offset_rot,
+        )
+
+    def _calibration_inputs(
+        self, sample: Mapping[str, Any]
+    ) -> tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray] | None:
+        head_pose = sample.get("head_pose")
+        ee_poses = sample.get("ee_poses", {})
+        left_pose = ee_poses.get("left") if isinstance(ee_poses, Mapping) else None
+        right_pose = ee_poses.get("right") if isinstance(ee_poses, Mapping) else None
+        if head_pose is None or left_pose is None or right_pose is None:
+            return None
+
+        head_pos, head_quat = openxr_pose_to_isaac_pose(
+            head_pose,
+            scale=self._marker_scale,
+            offset_z=self._marker_z_offset,
+        )
+        left_pos, _left_quat = openxr_pose_to_isaac_pose(
+            left_pose,
+            scale=self._marker_scale,
+            offset_z=self._marker_z_offset,
+        )
+        right_pos, _right_quat = openxr_pose_to_isaac_pose(
+            right_pose,
+            scale=self._marker_scale,
+            offset_z=self._marker_z_offset,
+        )
+        return (
+            np.asarray(head_pos, dtype=np.float64),
+            quat_xyzw_to_matrix(head_quat),
+            np.asarray(left_pos, dtype=np.float64),
+            np.asarray(right_pos, dtype=np.float64),
+        )
+
+    def _maybe_log_waiting(
+        self, sample: Mapping[str, Any], *, reason: str | None = None
+    ) -> None:
+        if self._waiting_announced:
+            return
+        frame_count = int(sample.get("frame_count", 0))
+        head_ready = sample.get("head_pose") is not None
+        ee_poses = sample.get("ee_poses", {})
+        left_ready = isinstance(ee_poses, Mapping) and ee_poses.get("left") is not None
+        right_ready = (
+            isinstance(ee_poses, Mapping) and ee_poses.get("right") is not None
+        )
+        detail = f" reason={reason}" if reason else ""
+        print(
+            f"[{self._config.status_label}] waiting for AVP head-hand frame calibration "
+            f"frame={frame_count} head={head_ready} left={left_ready} "
+            f"right={right_ready}{detail}",
+            flush=True,
+        )
+        self._waiting_announced = True
+
+    def _announce_calibration(
+        self,
+        sample: Mapping[str, Any],
+        origin_pos: np.ndarray,
+        frame_rot: np.ndarray,
+        *,
+        elapsed_s: float,
+        sample_count: int,
+    ) -> None:
+        reference_body_pos, _reference_body_rot = _body_pose_np(
+            self._robot, self._reference_body_id
+        )
+        reference_pos, _reference_rot = self._current_reference_world_pose()
+        print(
+            f"[{self._config.status_label}] AVP head-hand frame calibrated "
+            f"frame={int(sample.get('frame_count', 0))} "
+            f"elapsed_s={elapsed_s:.3f} samples={sample_count} "
+            f"origin_isaac={origin_pos.tolist()} "
+            f"x={frame_rot[:, 0].tolist()} y={frame_rot[:, 1].tolist()} "
+            f"z={frame_rot[:, 2].tolist()} "
+            f"robot_reference_body={self._config.robot_reference_body!r} "
+            f"robot_reference_body_pos={reference_body_pos.astype(np.float32).tolist()} "
+            f"robot_reference_pos={reference_pos.astype(np.float32).tolist()}",
+            flush=True,
+        )
+
+
+def ordered_hand_targets(
+    sample: Mapping[str, Any], side: str, target_names: Sequence[str]
+) -> np.ndarray | None:
+    # Native Dex retargeting emits named joint output via TeleopMain.
+    # Any backend/schema mismatch shows up here when remapping into the robot joint order.
+    values_by_name = _joint_values_by_name(sample, side)
+    if not values_by_name:
+        return None
+    return _ordered_named_targets(
+        values=[values_by_name[name] for name in values_by_name],
+        source_names=list(values_by_name),
+        target_names=target_names,
+        side=side,
+        label="teleop_dex",
+        axis_signs={},
+        status_label="teleop",
+    )
+
+
+class WujiHandTargetBackend:
+    """Official Wuji retargeting from MANUS/OpenXR skeletons."""
+
+    def __init__(self, config: WujiHandRuntimeConfig) -> None:
+        self._config = config
+        self._retargeter: Any | None = None
+        self._last_left_skeleton: np.ndarray | None = None
+        self._last_right_skeleton: np.ndarray | None = None
+        self._last_left_targets: np.ndarray | None = None
+        self._last_right_targets: np.ndarray | None = None
+        self._announced = False
+        self._waiting_announced = False
+
+    def _ensure_retargeter(self) -> None:
+        if self._retargeter is not None:
+            return
+        if self._config.retarget_backend != "wuji":
+            raise ValueError(
+                f"Unsupported hand retarget backend: {self._config.retarget_backend!r}"
+            )
+
+        from ...hand_retargeting.wuji_official_adapter import (
+            WujiOfficialManusHandRetargeter,
+        )
+
+        self._retargeter = WujiOfficialManusHandRetargeter(
+            config_dir=self._config.wuji_config_dir
+        )
+        self._retargeter._ensure_retargeters()
+        if not self._announced:
+            left_names = tuple(getattr(self._retargeter, "_left_joint_names", ()) or ())
+            right_names = tuple(
+                getattr(self._retargeter, "_right_joint_names", ()) or ()
+            )
+            config_source = (
+                str(self._config.wuji_config_dir)
+                if self._config.wuji_config_dir is not None
+                else "official wuji-retargeting example config"
+            )
+            print(
+                f"[{self._config.status_label}] using hand retarget backend: "
+                f"{self._config.retarget_backend} "
+                f"(left_joints={len(left_names)}, right_joints={len(right_names)}, "
+                f"config={config_source})."
+            )
+            self._announced = True
+
+    @staticmethod
+    def _to_numpy(values: Any) -> np.ndarray:
+        if hasattr(values, "detach") and hasattr(values, "cpu"):
+            values = values.detach().cpu().numpy()
+        return np.asarray(values, dtype=np.float32).reshape(-1)
+
+    def targets(
+        self,
+        sample: Mapping[str, Any],
+    ) -> tuple[np.ndarray | None, np.ndarray | None]:
+        left_skeleton = _wuji_skeleton21_from_openxr(sample, "left")
+        right_skeleton = _wuji_skeleton21_from_openxr(sample, "right")
+        if left_skeleton is not None:
+            self._last_left_skeleton = left_skeleton
+        if right_skeleton is not None:
+            self._last_right_skeleton = right_skeleton
+
+        left_input = (
+            left_skeleton if left_skeleton is not None else self._last_left_skeleton
+        )
+        right_input = (
+            right_skeleton if right_skeleton is not None else self._last_right_skeleton
+        )
+        if left_input is None or right_input is None:
+            if not self._waiting_announced:
+                print(
+                    f"[{self._config.status_label}] waiting for MANUS hand skeletons; "
+                    "AVP/controller EE teleop remains independent.",
+                    flush=True,
+                )
+                self._waiting_announced = True
+            return self._last_left_targets, self._last_right_targets
+
+        self._ensure_retargeter()
+        result = self._retargeter.retarget_manus_skeletons(
+            left_input,
+            right_input,
+            frame_index=int(sample.get("frame_count", 0)),
+            device=None,
+        )
+
+        left_targets = _ordered_named_targets(
+            values=self._to_numpy(result.left_joint_positions),
+            source_names=result.left_joint_names,
+            target_names=self._config.left_joint_names,
+            side="left",
+            label=self._config.retarget_backend,
+            axis_signs=self._config.axis_signs,
+            status_label=self._config.status_label,
+        )
+        right_targets = _ordered_named_targets(
+            values=self._to_numpy(result.right_joint_positions),
+            source_names=result.right_joint_names,
+            target_names=self._config.right_joint_names,
+            side="right",
+            label=self._config.retarget_backend,
+            axis_signs=self._config.axis_signs,
+            status_label=self._config.status_label,
+        )
+
+        if left_targets is not None:
+            self._last_left_targets = left_targets
+        if right_targets is not None:
+            self._last_right_targets = right_targets
+        return self._last_left_targets, self._last_right_targets
+
+
+def _resolve_config_relative_path(value: Any, config: Mapping[str, Any]) -> Path | None:
+    if value is None:
+        return None
+    raw = str(value).strip()
+    if not raw:
+        return None
+    path = Path(raw).expanduser()
+    if path.is_absolute():
+        return path.resolve()
+    default_config_dir = app_root() / "config"
+    base_dir = Path(str(config.get("_config_dir", default_config_dir))).expanduser()
+    return (base_dir / path).resolve()
+
+
+def _float_tuple(
+    values: Any,
+    *,
+    name: str,
+    length: int,
+    default: Sequence[float],
+) -> tuple[float, ...]:
+    raw = default if values is None else values
+    if not isinstance(raw, Sequence) or isinstance(raw, (str, bytes)):
+        raise ValueError(f"Config field {name!r} must be a {length}-element sequence")
+    if len(raw) != length:
+        raise ValueError(f"Config field {name!r} must contain exactly {length} values")
+    return tuple(float(value) for value in raw)
+
+
+def _unit_vector(values: Sequence[float] | np.ndarray) -> np.ndarray | None:
+    vector = np.asarray(values, dtype=np.float64).reshape(-1)
+    if vector.size != 3:
+        return None
+    norm = np.linalg.norm(vector)
+    if norm < 1.0e-8:
+        return None
+    return vector / norm
+
+
+def _sample_timestamp_s(sample: Mapping[str, Any]) -> float:
+    timestamp = sample.get("timestamp_s")
+    if timestamp is None:
+        return time.monotonic()
+    return float(timestamp)
+
+
+def _average_rotation_matrix(matrix_sum: np.ndarray) -> np.ndarray | None:
+    matrix = np.asarray(matrix_sum, dtype=np.float64)
+    if matrix.shape != (3, 3) or np.linalg.norm(matrix) < 1.0e-8:
+        return None
+    try:
+        u, _s, vt = np.linalg.svd(matrix)
+    except np.linalg.LinAlgError:
+        return None
+    rotation = u @ vt
+    if np.linalg.det(rotation) < 0.0:
+        u[:, -1] *= -1.0
+        rotation = u @ vt
+    return rotation
+
+
+def _head_hand_frame_rotation(
+    *,
+    head_rot: np.ndarray,
+    left_pos: np.ndarray,
+    right_pos: np.ndarray,
+    head_forward_axis: np.ndarray,
+) -> np.ndarray | None:
+    x_axis = _unit_vector(head_rot @ head_forward_axis)
+    if x_axis is None:
+        return None
+
+    y_axis_raw = _unit_vector(left_pos - right_pos)
+    if y_axis_raw is None:
+        y_axis = _fallback_lateral_axis(x_axis)
+    else:
+        z_axis = _unit_vector(np.cross(x_axis, y_axis_raw))
+        if z_axis is None:
+            y_axis = _fallback_lateral_axis(x_axis)
+        else:
+            y_axis = _unit_vector(np.cross(z_axis, x_axis))
+    if y_axis is None:
+        return None
+
+    z_axis = _unit_vector(np.cross(x_axis, y_axis))
+    if z_axis is None:
+        return None
+    frame_rot = np.column_stack((x_axis, y_axis, z_axis))
+    if np.linalg.det(frame_rot) < 0.0:
+        frame_rot[:, 2] *= -1.0
+    return frame_rot
+
+
+def _dynamic_head_frame_rotation(
+    *,
+    calibration_frame_rot: np.ndarray,
+    head_rot: np.ndarray,
+    head_forward_axis: np.ndarray,
+) -> tuple[np.ndarray | None, float | None]:
+    reference_x = _unit_vector(calibration_frame_rot[:, 0])
+    reference_z = _unit_vector(calibration_frame_rot[:, 2])
+    current_forward = _unit_vector(head_rot @ head_forward_axis)
+    if reference_x is None or reference_z is None or current_forward is None:
+        return None, None
+
+    projected_forward = _unit_vector(
+        current_forward - np.dot(current_forward, reference_z) * reference_z
+    )
+    if projected_forward is None:
+        return None, None
+
+    projected_lateral = _unit_vector(np.cross(reference_z, projected_forward))
+    if projected_lateral is None:
+        return None, None
+
+    yaw_delta_rad = float(
+        np.arctan2(
+            np.dot(reference_z, np.cross(reference_x, projected_forward)),
+            np.dot(reference_x, projected_forward),
+        )
+    )
+    frame_rot = np.column_stack((projected_forward, projected_lateral, reference_z))
+    if np.linalg.det(frame_rot) < 0.0:
+        frame_rot[:, 1] *= -1.0
+    return frame_rot, yaw_delta_rad
+
+
+def _head_tilt_delta_rotation(
+    *,
+    calibration_head_rot: np.ndarray,
+    current_head_rot: np.ndarray,
+    head_forward_axis: np.ndarray,
+) -> np.ndarray | None:
+    calibration_tilt = _yaw_removed_rotation(
+        rotation=calibration_head_rot,
+        forward_axis=head_forward_axis,
+    )
+    current_tilt = _yaw_removed_rotation(
+        rotation=current_head_rot,
+        forward_axis=head_forward_axis,
+    )
+    if calibration_tilt is None or current_tilt is None:
+        return None
+    tilt_delta = current_tilt @ calibration_tilt.T
+    if np.linalg.det(tilt_delta) < 0.0:
+        return None
+    return tilt_delta
+
+
+def _yaw_removed_rotation(
+    *,
+    rotation: np.ndarray,
+    forward_axis: np.ndarray,
+) -> np.ndarray | None:
+    yaw_rot = _world_z_yaw_rotation_from_forward(
+        rotation=rotation,
+        forward_axis=forward_axis,
+    )
+    if yaw_rot is None:
+        return None
+    return yaw_rot.T @ rotation
+
+
+def _world_z_yaw_rotation_from_forward(
+    *,
+    rotation: np.ndarray,
+    forward_axis: np.ndarray,
+) -> np.ndarray | None:
+    forward_local = _unit_vector(forward_axis)
+    if forward_local is None:
+        return None
+
+    reference_forward = _unit_vector(
+        np.asarray([forward_local[0], forward_local[1], 0.0], dtype=np.float64)
+    )
+    current_forward = _unit_vector(rotation @ forward_local)
+    if reference_forward is None or current_forward is None:
+        return None
+    projected_forward = _unit_vector(
+        np.asarray([current_forward[0], current_forward[1], 0.0], dtype=np.float64)
+    )
+    if projected_forward is None:
+        return None
+
+    yaw_rad = float(
+        np.arctan2(
+            reference_forward[0] * projected_forward[1]
+            - reference_forward[1] * projected_forward[0],
+            reference_forward[0] * projected_forward[0]
+            + reference_forward[1] * projected_forward[1],
+        )
+    )
+    cos_yaw = float(np.cos(yaw_rad))
+    sin_yaw = float(np.sin(yaw_rad))
+    return np.array(
+        [
+            [cos_yaw, -sin_yaw, 0.0],
+            [sin_yaw, cos_yaw, 0.0],
+            [0.0, 0.0, 1.0],
+        ],
+        dtype=np.float64,
+    )
+
+
+def _fallback_lateral_axis(x_axis: np.ndarray) -> np.ndarray | None:
+    # Early tracker frames can report coincident wrists; do not block teleop startup.
+    up_hint = np.asarray([0.0, 0.0, 1.0], dtype=np.float64)
+    if abs(float(np.dot(x_axis, up_hint))) > 0.95:
+        up_hint = np.asarray([0.0, 1.0, 0.0], dtype=np.float64)
+    return _unit_vector(np.cross(up_hint, x_axis))
+
+
+def _find_single_body_id(robot: Any, body_name: str, label: str) -> int:
+    body_ids, body_names = robot.find_bodies(body_name)
+    if len(body_ids) == 1:
+        return int(body_ids[0])
+
+    available = list(getattr(robot.data, "body_names", []) or [])
+    preview = available[:40]
+    raise RuntimeError(
+        f"Expected one {label} match for {body_name!r}; got {len(body_ids)}: "
+        f"{body_names}. Available body names first entries: {preview}"
+    )
+
+
+def _first_numpy(value: Any) -> np.ndarray:
+    if hasattr(value, "detach"):
+        return value.detach().cpu().numpy()
+    try:
+        import warp as wp
+
+        return wp.to_torch(value).detach().cpu().numpy()
+    except Exception:
+        return np.asarray(value)
+
+
+def _body_pose_np(robot: Any, body_id: int) -> tuple[np.ndarray, np.ndarray]:
+    body_pos = np.asarray(
+        _first_numpy(robot.data.body_pos_w)[0, body_id], dtype=np.float64
+    )
+    body_quat = np.asarray(
+        _first_numpy(robot.data.body_quat_w)[0, body_id], dtype=np.float64
+    )
+    return body_pos, quat_xyzw_to_matrix(body_quat)
+
+
+def _joint_values_by_name(sample: Mapping[str, Any], side: str) -> dict[str, float]:
+    names = sample["hand_joint_names"][side]
+    values = sample["hand_joint_positions"][side]
+    if values is None:
+        return {}
+    return {
+        str(name): float(values[i]) for i, name in enumerate(names) if i < len(values)
+    }
+
+
+def _ordered_named_targets(
+    *,
+    values: Any,
+    source_names: Sequence[str] | None,
+    target_names: Sequence[str],
+    side: str,
+    label: str,
+    axis_signs: Mapping[str, float] | None = None,
+    status_label: str = "teleop",
+) -> np.ndarray | None:
+    if values is None:
+        return None
+
+    values_array = np.asarray(values, dtype=np.float32).reshape(-1)
+    if source_names is None:
+        ordered = np.zeros(len(target_names), dtype=np.float32)
+        count = min(len(target_names), values_array.size)
+        if count:
+            ordered[:count] = values_array[:count]
+        return ordered
+
+    values_by_name = {
+        str(name): float(values_array[i])
+        for i, name in enumerate(source_names)
+        if i < values_array.size
+    }
+    if values_by_name:
+        side_prefix = f"{side}_"
+        normalized_values_by_name = dict(values_by_name)
+        for name, value in list(values_by_name.items()):
+            if name.startswith(side_prefix):
+                continue
+            prefixed_name = f"{side_prefix}{name}"
+            normalized_values_by_name.setdefault(prefixed_name, value)
+        values_by_name = normalized_values_by_name
+    missing = [name for name in target_names if name not in values_by_name]
+    extra = [name for name in values_by_name if name not in set(target_names)]
+    if missing or extra:
+        cache = getattr(_ordered_named_targets, "_logged_mismatches", set())
+        key = (label, side, tuple(missing), tuple(extra))
+        if key not in cache:
+            print(
+                f"[{status_label}] retarget joint-name mismatch "
+                f"backend={label} side={side} missing={missing[:8]} "
+                f"total_missing={len(missing)} extra={extra[:8]} total_extra={len(extra)}",
+                flush=True,
+            )
+            cache.add(key)
+            setattr(_ordered_named_targets, "_logged_mismatches", cache)
+
+    ordered = np.zeros(len(target_names), dtype=np.float32)
+    sign_map = axis_signs or {}
+    for i, name in enumerate(target_names):
+        ordered[i] = values_by_name.get(name, 0.0) * sign_map.get(name, 1.0)
+    return ordered
+
+
+def _wuji_skeleton21_from_openxr(
+    sample: Mapping[str, Any], side: str
+) -> np.ndarray | None:
+    skeletons = sample.get("hand_skeletons", {})
+    skeleton = skeletons.get(side) if isinstance(skeletons, Mapping) else None
+    if not isinstance(skeleton, Mapping):
+        return None
+
+    joint_names = skeleton.get("joint_names")
+    positions = skeleton.get("positions")
+    if not isinstance(joint_names, Sequence) or positions is None:
+        return None
+
+    positions_array = np.asarray(positions, dtype=np.float32)
+    if positions_array.ndim != 2 or positions_array.shape[1] != 3:
+        return None
+
+    valid_values = skeleton.get("valid")
+    valid_array = (
+        np.ones(positions_array.shape[0], dtype=bool)
+        if valid_values is None
+        else np.asarray(valid_values, dtype=bool).reshape(-1)
+    )
+    name_to_index = {str(name): index for index, name in enumerate(joint_names)}
+
+    out = np.zeros((len(WUJI_SKELETON21_OPENXR_NAMES), 3), dtype=np.float32)
+    missing: list[str] = []
+    for out_index, name in enumerate(WUJI_SKELETON21_OPENXR_NAMES):
+        source_index = name_to_index.get(name)
+        if (
+            source_index is None
+            or source_index >= positions_array.shape[0]
+            or source_index >= valid_array.size
+            or not bool(valid_array[source_index])
+        ):
+            missing.append(name)
+            continue
+        out[out_index] = positions_array[source_index]
+
+    if missing:
+        cache = getattr(_wuji_skeleton21_from_openxr, "_logged_missing", set())
+        key = (side, tuple(missing))
+        if key not in cache:
+            print(
+                "[teleop] cannot build Wuji 21-point skeleton "
+                f"side={side} missing_or_invalid={missing[:8]} total={len(missing)}",
+                flush=True,
+            )
+            cache.add(key)
+            setattr(_wuji_skeleton21_from_openxr, "_logged_missing", cache)
+        return None
+
+    if not np.all(np.isfinite(out)):
+        return None
+    return out
diff --git a/examples/g1_wuji_teleop/python/g1_wuji_teleop/robots/g1_wuji/scene.py b/examples/g1_wuji_teleop/python/g1_wuji_teleop/robots/g1_wuji/scene.py
new file mode 100644
index 000000000..3d8ec2d62
--- /dev/null
+++ b/examples/g1_wuji_teleop/python/g1_wuji_teleop/robots/g1_wuji/scene.py
@@ -0,0 +1,251 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Isaac Lab scene helpers for the G1-Wuji teleop app."""
+
+from __future__ import annotations
+
+from collections.abc import Mapping
+from dataclasses import dataclass
+from pathlib import Path
+from typing import Any
+
+
+@dataclass(frozen=True)
+class G1WujiSceneConfig:
+    robot_prim: str
+    robot_usd: Path
+    initial_world_position: tuple[float, float, float]
+    initial_world_orientation_xyzw: tuple[float, float, float, float]
+    initial_hand_joint_positions: Mapping[str, float]
+    light_intensity: float
+
+
+def make_g1_wuji_robot_cfg(config: G1WujiSceneConfig):
+    import isaaclab.sim as sim_utils
+    from isaaclab.actuators import ImplicitActuatorCfg
+    from isaaclab.assets import ArticulationCfg
+
+    joint_pos = {
+        "right_wrist_yaw_joint": 0.0,
+        "left_wrist_yaw_joint": 0.0,
+        ".*_wrist_pitch_joint": 0.0,
+        ".*_wrist_roll_joint": 0.0,
+        ".*_shoulder_pitch_joint": 0.0,
+        ".*_shoulder_roll_joint": 0.0,
+        ".*_shoulder_yaw_joint": 0.0,
+        "right_elbow_joint": 0.0,
+        "left_elbow_joint": 0.0,
+    }
+    joint_pos.update(
+        {
+            name: float(value)
+            for name, value in config.initial_hand_joint_positions.items()
+        }
+    )
+
+    return ArticulationCfg(
+        prim_path=config.robot_prim,
+        spawn=sim_utils.UsdFileCfg(
+            usd_path=str(config.robot_usd),
+            activate_contact_sensors=False,
+            rigid_props=sim_utils.RigidBodyPropertiesCfg(
+                disable_gravity=True,
+                retain_accelerations=False,
+                max_linear_velocity=100.0,
+                max_angular_velocity=1000.0,
+                max_depenetration_velocity=1.0,
+            ),
+            collision_props=sim_utils.CollisionPropertiesCfg(
+                contact_offset=0.002,
+                rest_offset=0.001,
+            ),
+            articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+                enabled_self_collisions=False,
+                solver_position_iteration_count=16,
+                solver_velocity_iteration_count=4,
+                sleep_threshold=0.005,
+                stabilization_threshold=0.001,
+            ),
+        ),
+        init_state=ArticulationCfg.InitialStateCfg(
+            pos=config.initial_world_position,
+            # IsaacLab consumes the articulation root quaternion as [x, y, z, w].
+            rot=config.initial_world_orientation_xyzw,
+            joint_pos=joint_pos,
+            joint_vel={".*": 0.0},
+        ),
+        soft_joint_pos_limit_factor=0.98,
+        actuators=_wuji_actuators(ImplicitActuatorCfg),
+    )
+
+
+def _wuji_actuators(ImplicitActuatorCfg):
+    common = {
+        "base": ImplicitActuatorCfg(
+            joint_names_expr=["base_.*"],
+            effort_limit_sim=100000.0,
+            velocity_limit_sim=1000.0,
+            stiffness=1e6,
+            damping=1e4,
+        ),
+        "right_arm": ImplicitActuatorCfg(
+            joint_names_expr=["right_shoulder_.*", "right_elbow_joint"],
+            effort_limit_sim=5.0,
+            velocity_limit_sim=3.0,
+            stiffness=400.0,
+            damping=80.0,
+        ),
+        "left_arm": ImplicitActuatorCfg(
+            joint_names_expr=["left_shoulder_.*", "left_elbow_joint"],
+            effort_limit_sim=5.0,
+            velocity_limit_sim=3.0,
+            stiffness=400.0,
+            damping=80.0,
+        ),
+        "wrist": ImplicitActuatorCfg(
+            joint_names_expr=[
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+            ],
+            effort_limit_sim=90000.0,
+            velocity_limit_sim=1200.0,
+            stiffness=400.0,
+            damping=80.0,
+        ),
+    }
+    common["fingers"] = ImplicitActuatorCfg(
+        joint_names_expr=["left_finger.*", "right_finger.*"],
+        effort_limit_sim=300.0,
+        velocity_limit_sim=8.0,
+        stiffness=4000.0,
+        damping=120.0,
+    )
+    return common
+
+
+def design_g1_wuji_scene(config: G1WujiSceneConfig) -> Any:
+    import isaaclab.sim as sim_utils
+    from isaaclab.assets import Articulation
+
+    graspable_surface_material = sim_utils.RigidBodyMaterialCfg(
+        static_friction=1.3,
+        dynamic_friction=1.1,
+        restitution=0.0,
+        friction_combine_mode="max",
+        restitution_combine_mode="min",
+    )
+
+    floor_cfg = sim_utils.CuboidCfg(
+        size=(6.0, 6.0, 0.04),
+        collision_props=sim_utils.CollisionPropertiesCfg(),
+        visual_material=sim_utils.PreviewSurfaceCfg(
+            diffuse_color=(0.25, 0.25, 0.25), roughness=0.8
+        ),
+    )
+    floor_cfg.func("/World/Floor", floor_cfg, translation=(0.0, 0.0, -0.02))
+
+    table_color = (0.54, 0.42, 0.30)
+    table_leg_color = (0.22, 0.22, 0.24)
+    table_top_size = (1.20, 0.75, 0.05)
+    table_top_center = (0.0, 0.5, 0.74)
+    table_leg_size = (0.06, 0.06, 0.72)
+    table_leg_x_offset = table_top_size[0] * 0.5 - 0.09
+    table_leg_y_offset = table_top_size[1] * 0.5 - 0.09
+    table_leg_z = table_leg_size[2] * 0.5
+
+    table_top_cfg = sim_utils.CuboidCfg(
+        size=table_top_size,
+        collision_props=sim_utils.CollisionPropertiesCfg(),
+        physics_material=graspable_surface_material,
+        visual_material=sim_utils.PreviewSurfaceCfg(
+            diffuse_color=table_color,
+            roughness=0.55,
+        ),
+    )
+    table_top_cfg.func(
+        "/World/Props/TableTop", table_top_cfg, translation=table_top_center
+    )
+
+    table_leg_cfg = sim_utils.CuboidCfg(
+        size=table_leg_size,
+        collision_props=sim_utils.CollisionPropertiesCfg(),
+        physics_material=graspable_surface_material,
+        visual_material=sim_utils.PreviewSurfaceCfg(
+            diffuse_color=table_leg_color,
+            roughness=0.65,
+        ),
+    )
+    for leg_index, (x_sign, y_sign) in enumerate(
+        ((1.0, 1.0), (1.0, -1.0), (-1.0, 1.0), (-1.0, -1.0)), start=1
+    ):
+        table_leg_cfg.func(
+            f"/World/Props/TableLeg{leg_index}",
+            table_leg_cfg,
+            translation=(
+                table_top_center[0] + x_sign * table_leg_x_offset,
+                table_top_center[1] + y_sign * table_leg_y_offset,
+                table_leg_z,
+            ),
+        )
+
+    cylinder_radius = 0.032
+    cylinder_height = 0.18
+    cylinder_surface_z = table_top_center[2] + table_top_size[2] * 0.5
+    cylinder_cfg = sim_utils.CylinderCfg(
+        radius=cylinder_radius,
+        height=cylinder_height,
+        axis="Z",
+        collision_props=sim_utils.CollisionPropertiesCfg(
+            contact_offset=0.003,
+            rest_offset=0.0,
+        ),
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            rigid_body_enabled=True,
+            kinematic_enabled=False,
+            disable_gravity=False,
+            linear_damping=0.08,
+            angular_damping=0.06,
+            max_linear_velocity=8.0,
+            max_angular_velocity=50.0,
+            max_depenetration_velocity=3.0,
+            solver_position_iteration_count=16,
+            solver_velocity_iteration_count=4,
+            sleep_threshold=0.002,
+            stabilization_threshold=0.001,
+        ),
+        mass_props=sim_utils.MassPropertiesCfg(mass=0.18),
+        physics_material=sim_utils.RigidBodyMaterialCfg(
+            static_friction=1.4,
+            dynamic_friction=1.2,
+            restitution=0.0,
+            friction_combine_mode="max",
+            restitution_combine_mode="min",
+        ),
+        visual_material=sim_utils.PreviewSurfaceCfg(
+            diffuse_color=(0.84, 0.18, 0.10),
+            roughness=0.35,
+            metallic=0.05,
+        ),
+    )
+    cylinder_cfg.func(
+        "/World/Props/GraspCylinder",
+        cylinder_cfg,
+        translation=(
+            table_top_center[0],
+            table_top_center[1] - 0.12,
+            cylinder_surface_z + cylinder_height * 0.5,
+        ),
+    )
+
+    light_cfg = sim_utils.DomeLightCfg(
+        intensity=config.light_intensity,
+        color=(0.75, 0.75, 0.75),
+    )
+    light_cfg.func("/World/Light", light_cfg)
+
+    return Articulation(cfg=make_g1_wuji_robot_cfg(config))
diff --git a/examples/g1_wuji_teleop/python/g1_wuji_teleop/session.py b/examples/g1_wuji_teleop/python/g1_wuji_teleop/session.py
new file mode 100644
index 000000000..8a2546c97
--- /dev/null
+++ b/examples/g1_wuji_teleop/python/g1_wuji_teleop/session.py
@@ -0,0 +1,2778 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Minimal Isaac Lab scene for AVP + MANUS teleop on G1-Wuji.
+
+Run this script with an Isaac Sim / Isaac Lab Python environment. It intentionally
+keeps the simulation side small: a ground plane, a light, the selected G1 USD,
+wrist target markers, and live hand joint targets from ``TeleopMain``.
+"""
+
+from __future__ import annotations
+
+import argparse
+import asyncio
+import importlib
+import os
+import sys
+import threading
+import time
+import traceback
+from collections.abc import Mapping, Sequence
+from dataclasses import dataclass, field
+from dataclasses import replace as dataclass_replace
+from pathlib import Path
+from typing import Any
+
+import numpy as np
+
+from .devices.avp_manus_stream import TeleopMain
+from .paths import default_config_path, ensure_import_paths, resolve_repo_relative_path
+from .robots.g1_wuji.debug_viz import (
+    DebugVizSceneConfig,
+    create_debug_viz,
+    debug_viz_runtime_config,
+    find_head_like_prim,
+    sample_target_poses,
+    update_frame_axis_markers,
+    update_head_marker,
+    update_wrist_markers,
+    walk_child_prims,
+)
+from .robots.g1_wuji.runtime import (
+    AvpFrameBindingRuntimeConfig,
+    AvpRobotFrameBinding,
+    HandTargetPostProcessor,
+    WujiHandRuntimeConfig,
+    WujiHandTargetBackend,
+    avp_frame_binding_runtime_config,
+    matrix_to_quat_xyzw,
+    normalize_quat_xyzw,
+    openxr_pose_to_isaac_pose,
+    ordered_hand_targets,
+    robot_profile_from_config,
+    resolve_marker_pose as resolve_avp_marker_pose,
+    wuji_hand_runtime_config,
+)
+from .robots.g1_wuji.scene import (
+    G1WujiSceneConfig,
+    design_g1_wuji_scene,
+)
+
+
+os.environ.setdefault("WARP_CACHE_PATH", "/tmp/isaacteleop-warp-cache")
+
+
+def _enable_kit_extension(extension_name: str) -> None:
+    """Best-effort enable of a packaged Kit extension by name."""
+
+    try:
+        import omni.kit.app
+
+        ext_manager = omni.kit.app.get_app().get_extension_manager()
+        if ext_manager is not None and not ext_manager.is_extension_enabled(
+            extension_name
+        ):
+            ext_manager.set_extension_enabled_immediate(extension_name, True)
+    except Exception:
+        pass
+
+
+def _inject_isaacsim_extension_root(extension_name: str) -> None:
+    """Append a packaged Isaac Sim extension root from ``extscache`` or ``exts`` to ``sys.path``."""
+
+    for path_entry in sys.path:
+        if "site-packages" not in path_entry:
+            continue
+        isaacsim_root = Path(path_entry) / "isaacsim"
+        extscache_dir = isaacsim_root / "extscache"
+        if extscache_dir.is_dir():
+            matches = sorted(extscache_dir.glob(f"{extension_name}-*"))
+            if matches:
+                ext_path = str(matches[-1])
+                if ext_path not in sys.path:
+                    sys.path.append(ext_path)
+                return
+
+        exts_dir = isaacsim_root / "exts" / extension_name
+        if exts_dir.is_dir():
+            ext_path = str(exts_dir)
+            if ext_path not in sys.path:
+                sys.path.append(ext_path)
+            return
+
+
+def _ensure_carb_input_available() -> None:
+    """Load ``carb.input`` explicitly so keyboard events work across Kit variants."""
+
+    try:
+        import carb
+
+        if hasattr(carb, "input"):
+            return
+        import carb.input  # noqa: F401
+    except Exception as exc:
+        raise RuntimeError(
+            "Failed to load carb.input required for teleop keyboard shortcuts."
+        ) from exc
+
+
+def _import_omni_appwindow():
+    """Import ``omni.appwindow`` even when Kit hasn't pre-enabled the extension."""
+
+    _enable_kit_extension("omni.appwindow")
+
+    try:
+        import omni.appwindow as omni_appwindow
+
+        return omni_appwindow
+    except Exception:
+        _inject_isaacsim_extension_root("omni.appwindow")
+        _enable_kit_extension("omni.appwindow")
+        try:
+            import omni.appwindow as omni_appwindow
+
+            return omni_appwindow
+        except Exception as exc:
+            raise RuntimeError(
+                "Failed to load omni.appwindow required for teleop keyboard shortcuts."
+            ) from exc
+
+
+def _import_omni_viewport_utility():
+    """Import ``omni.kit.viewport.utility`` when Isaac Sim hasn't enabled it yet."""
+
+    _enable_kit_extension("omni.kit.viewport.window")
+    _enable_kit_extension("omni.kit.viewport.utility")
+
+    try:
+        return importlib.import_module("omni.kit.viewport.utility")
+    except Exception:
+        _inject_isaacsim_extension_root("omni.kit.viewport.utility")
+        _enable_kit_extension("omni.kit.viewport.window")
+        _enable_kit_extension("omni.kit.viewport.utility")
+        try:
+            return importlib.import_module("omni.kit.viewport.utility")
+        except Exception as exc:
+            raise RuntimeError(
+                "Failed to load omni.kit.viewport.utility required for head-view camera control."
+            ) from exc
+
+
+def _import_omni_replicator_core():
+    """Import ``omni.replicator.core`` when Isaac Sim hasn't enabled it yet."""
+
+    _enable_kit_extension("omni.replicator.core")
+
+    try:
+        return importlib.import_module("omni.replicator.core")
+    except Exception:
+        _inject_isaacsim_extension_root("omni.replicator.core")
+        _enable_kit_extension("omni.replicator.core")
+        try:
+            return importlib.import_module("omni.replicator.core")
+        except Exception as exc:
+            raise ModuleNotFoundError(
+                "robot.head_view_xr_display requires omni.replicator.core."
+            ) from exc
+
+
+def _head_view_xr_display_preflight_error(camera_prim_path: str | None) -> str | None:
+    """Return a short reason when direct camera render-product prerequisites are not ready."""
+
+    if not camera_prim_path:
+        return "no head-view camera prim is available"
+    try:
+        _import_omni_replicator_core()
+    except Exception as exc:
+        return f"failed to import omni.replicator.core ({type(exc).__name__}: {exc})"
+    return None
+
+
+def _disable_robot_transmissive_materials(
+    *, stage: Any, robot_root_prim: Any, status_label: str
+) -> None:
+    """Make the robot body render opaque even when the source USD uses a transmissive OmniSurface."""
+
+    if stage is None or robot_root_prim is None or not robot_root_prim.IsValid():
+        return
+
+    root_prefix = f"{robot_root_prim.GetPath()}/"
+    patched_shader_paths: list[str] = []
+    for prim in stage.Traverse():
+        prim_path = str(prim.GetPath())
+        if not prim_path.startswith(root_prefix):
+            continue
+        if prim.GetTypeName() != "Shader" or not prim_path.endswith(
+            "/OmniSurface/Shader"
+        ):
+            continue
+
+        enable_specular_transmission = prim.GetAttribute(
+            "inputs:enable_specular_transmission"
+        )
+        if enable_specular_transmission.IsValid():
+            enable_specular_transmission.Set(False)
+
+        specular_transmission_weight = prim.GetAttribute(
+            "inputs:specular_transmission_weight"
+        )
+        if specular_transmission_weight.IsValid():
+            specular_transmission_weight.Set(0.0)
+
+        enable_diffuse_transmission = prim.GetAttribute(
+            "inputs:enable_diffuse_transmission"
+        )
+        if enable_diffuse_transmission.IsValid():
+            enable_diffuse_transmission.Set(False)
+
+        enable_opacity = prim.GetAttribute("inputs:enable_opacity")
+        if enable_opacity.IsValid():
+            enable_opacity.Set(False)
+
+        geometry_opacity = prim.GetAttribute("inputs:geometry_opacity")
+        if geometry_opacity.IsValid():
+            geometry_opacity.Set(1.0)
+
+        patched_shader_paths.append(prim_path)
+
+    if patched_shader_paths:
+        print(
+            f"[{status_label}] disabled transmissive robot material on "
+            f"{len(patched_shader_paths)} OmniSurface shader(s).",
+            flush=True,
+        )
+
+
+def _ensure_cloudxr_runtime_environment_defaults() -> None:
+    """Populate common CloudXR/OpenXR env vars from ``~/.cloudxr`` when the shell has not set them."""
+
+    cloudxr_root = Path.home() / ".cloudxr"
+    manifest_candidates = (
+        cloudxr_root / "openxr_cloudxr.json",
+        cloudxr_root / "share" / "openxr" / "1" / "openxr_cloudxr.json",
+    )
+    manifest_path = next((path for path in manifest_candidates if path.is_file()), None)
+    if manifest_path is not None:
+        manifest_str = str(manifest_path)
+        if not os.environ.get("XR_RUNTIME_JSON"):
+            os.environ["XR_RUNTIME_JSON"] = manifest_str
+        if not os.environ.get("OPENXR_RUNTIME_JSON"):
+            os.environ["OPENXR_RUNTIME_JSON"] = manifest_str
+
+    runtime_dir = cloudxr_root / "run"
+    if runtime_dir.is_dir() and not os.environ.get("NV_CXR_RUNTIME_DIR"):
+        os.environ["NV_CXR_RUNTIME_DIR"] = str(runtime_dir)
+
+
+_XR_RUNTIME_UNAVAILABLE_PATTERNS = (
+    "xr_error_form_factor_unavailable",
+    "waiting for hmd",
+    "xrgetsystem timed out",
+    "requested extension 'xr_ext_hand_tracking' is not advertised",
+    "failed to determine active runtime",
+    "failed to load a runtime",
+    "failed to create openxr instance",
+)
+_XR_RETRY_INTERVAL_S = 2.0
+
+
+def _iter_exception_chain(exc: BaseException):
+    seen: set[int] = set()
+    current: BaseException | None = exc
+    while current is not None and id(current) not in seen:
+        yield current
+        seen.add(id(current))
+        current = current.__cause__ or current.__context__
+
+
+def _format_exception_chain(exc: BaseException) -> str:
+    return " -> ".join(
+        f"{type(error).__name__}: {error}" for error in _iter_exception_chain(exc)
+    )
+
+
+def _is_xr_runtime_unavailable_error(exc: BaseException) -> bool:
+    for error in _iter_exception_chain(exc):
+        message = f"{type(error).__name__}: {error}".lower()
+        if any(pattern in message for pattern in _XR_RUNTIME_UNAVAILABLE_PATTERNS):
+            return True
+    return False
+
+
+ARM_JOINTS = {
+    "left": (
+        "left_shoulder_pitch_joint",
+        "left_shoulder_roll_joint",
+        "left_shoulder_yaw_joint",
+        "left_elbow_joint",
+        "left_wrist_roll_joint",
+        "left_wrist_pitch_joint",
+        "left_wrist_yaw_joint",
+    ),
+    "right": (
+        "right_shoulder_pitch_joint",
+        "right_shoulder_roll_joint",
+        "right_shoulder_yaw_joint",
+        "right_elbow_joint",
+        "right_wrist_roll_joint",
+        "right_wrist_pitch_joint",
+        "right_wrist_yaw_joint",
+    ),
+}
+
+
+@dataclass(frozen=True)
+class HeadViewCameraConfig:
+    enabled: bool = True
+    activate_on_calibration: bool = True
+    prim_path: str = "/World/TeleopTargets/HeadViewCamera"
+    translation_offset_m: tuple[float, float, float] = (0.0, 0.0, 0.0)
+    orientation_offset_rpy_deg: tuple[float, float, float] = (90.0, 0.0, 90.0)
+    horizontal_aperture_mm: float = 20.955
+    focal_length_mm: float = 18.14756
+    clipping_range_m: tuple[float, float] = (0.01, 1000.0)
+
+
+@dataclass(frozen=True)
+class HeadViewXrDisplayConfig:
+    enabled: bool = False
+    activate_on_calibration: bool = True
+    app_name: str = "G1HeadViewXrDisplay"
+    resolution_px: tuple[int, int] = (960, 540)
+    lock_mode: str = "head"
+    distance_m: float = 1.2
+    offset_x_m: float = 0.0
+    offset_y_m: float = 0.0
+    plane_width_m: float = 2.2
+    near_z_m: float = 0.05
+    far_z_m: float = 100.0
+    clear_color_rgba: tuple[float, float, float, float] = (0.0, 0.0, 0.0, 1.0)
+
+
+@dataclass(frozen=True)
+class AuxiliaryViewportConfig:
+    enabled: bool = True
+    activate_on_calibration: bool = True
+    window_name: str = "Teleop Default View"
+    resolution_px: tuple[int, int] = (960, 540)
+    position_px: tuple[int, int] = (40, 40)
+
+
+class HeadViewCameraController:
+    """Drive a viewport camera from the robot head pose after AVP calibration."""
+
+    def __init__(
+        self,
+        *,
+        stage: Any,
+        UsdGeom: Any,
+        Gf: Any,
+        viewport_api: Any,
+        config: HeadViewCameraConfig,
+        head_link_prim: Any | None,
+        avp_frame_binding: Any | None,
+        whole_body_yaw: Any | None,
+    ) -> None:
+        self._config = config
+        self._viewport_api = viewport_api
+        self._UsdGeom = UsdGeom
+        self._Gf = Gf
+        self._head_link_prim = head_link_prim
+        self._avp_frame_binding = avp_frame_binding
+        self._whole_body_yaw = whole_body_yaw
+        self._active = False
+        self._announced_missing_head = False
+        self._orientation_offset_quat = self._orientation_offset_quatd(config)
+
+        camera = UsdGeom.Camera.Define(stage, config.prim_path)
+        self._camera_prim = camera.GetPrim()
+        self._camera_xform = UsdGeom.Xformable(self._camera_prim)
+        self._translate_op = self._camera_xform.AddTranslateOp()
+        # USD xform op value types are strict. Head prim world rotations come back as
+        # GfQuatd here, so keep the camera orient op in double precision as well.
+        self._orient_op = self._camera_xform.AddOrientOp(
+            precision=UsdGeom.XformOp.PrecisionDouble
+        )
+        self._scale_op = self._camera_xform.AddScaleOp()
+        self._camera_path = str(self._camera_prim.GetPath())
+
+        camera.GetHorizontalApertureAttr().Set(float(config.horizontal_aperture_mm))
+        camera.GetFocalLengthAttr().Set(float(config.focal_length_mm))
+        camera.GetClippingRangeAttr().Set(
+            Gf.Vec2f(
+                float(config.clipping_range_m[0]),
+                float(config.clipping_range_m[1]),
+            )
+        )
+        self._scale_op.Set(Gf.Vec3f(1.0, 1.0, 1.0))
+
+    @property
+    def camera_path(self) -> str:
+        return self._camera_path
+
+    def activate(self) -> None:
+        if self._viewport_api is None or self._active:
+            return
+        self._viewport_api.camera_path = self._camera_path
+        self._active = True
+
+    def deactivate(self) -> None:
+        self._active = False
+
+    def update(self, *, xform_cache: Any) -> None:
+        head_link_prim = self._head_link_prim
+        if head_link_prim is None or xform_cache is None:
+            if not self._announced_missing_head:
+                print(
+                    "Head view camera is enabled but no robot head prim is available; "
+                    "camera updates are disabled.",
+                    flush=True,
+                )
+                self._announced_missing_head = True
+            return
+
+        xform_cache.Clear()
+        world_transform = xform_cache.GetLocalToWorldTransform(head_link_prim)
+        world_translation = world_transform.ExtractTranslation()
+        world_rotation = world_transform.ExtractRotationQuat()
+        camera_base_rotation = world_rotation * self._orientation_offset_quat
+        camera_rotation = self._apply_head_pose_delta(camera_base_rotation)
+
+        offset = self._config.translation_offset_m
+        offset_vec = self._Gf.Vec3d(
+            float(offset[0]), float(offset[1]), float(offset[2])
+        )
+        camera_translation = world_translation + world_transform.TransformDir(
+            offset_vec
+        )
+
+        self._translate_op.Set(camera_translation)
+        self._orient_op.Set(camera_rotation)
+
+    def _apply_head_pose_delta(self, base_rotation: Any) -> Any:
+        avp_frame_binding = self._avp_frame_binding
+        if avp_frame_binding is None or not getattr(
+            avp_frame_binding, "calibrated", False
+        ):
+            return base_rotation
+        camera_rotation = base_rotation
+
+        try:
+            tilt_delta_rot = avp_frame_binding.latest_head_tilt_delta_rot()
+        except Exception:
+            tilt_delta_rot = None
+        if tilt_delta_rot is not None:
+            tilt_delta_quat = self._matrix3_to_quatd(tilt_delta_rot)
+            camera_rotation = tilt_delta_quat * camera_rotation
+        return camera_rotation
+
+    def _orientation_offset_quatd(self, config: HeadViewCameraConfig) -> Any:
+        roll_deg, pitch_deg, yaw_deg = config.orientation_offset_rpy_deg
+        roll_rad = np.deg2rad(float(roll_deg))
+        pitch_rad = np.deg2rad(float(pitch_deg))
+        yaw_rad = np.deg2rad(float(yaw_deg))
+
+        cr = np.cos(roll_rad * 0.5)
+        sr = np.sin(roll_rad * 0.5)
+        cp = np.cos(pitch_rad * 0.5)
+        sp = np.sin(pitch_rad * 0.5)
+        cy = np.cos(yaw_rad * 0.5)
+        sy = np.sin(yaw_rad * 0.5)
+
+        quat_xyzw = normalize_quat_xyzw(
+            (
+                sr * cp * cy - cr * sp * sy,
+                cr * sp * cy + sr * cp * sy,
+                cr * cp * sy - sr * sp * cy,
+                cr * cp * cy + sr * sp * sy,
+            )
+        )
+        return self._Gf.Quatd(
+            float(quat_xyzw[3]),
+            self._Gf.Vec3d(
+                float(quat_xyzw[0]),
+                float(quat_xyzw[1]),
+                float(quat_xyzw[2]),
+            ),
+        )
+
+    def _matrix3_to_quatd(self, matrix: np.ndarray) -> Any:
+        quat_xyzw = normalize_quat_xyzw(
+            matrix_to_quat_xyzw(np.asarray(matrix, dtype=np.float64))
+        )
+        return self._Gf.Quatd(
+            float(quat_xyzw[3]),
+            self._Gf.Vec3d(
+                float(quat_xyzw[0]),
+                float(quat_xyzw[1]),
+                float(quat_xyzw[2]),
+            ),
+        )
+
+
+def _head_view_camera_config(config: Mapping[str, Any]) -> HeadViewCameraConfig:
+    robot_config = config.get("robot", {})
+    if robot_config is None:
+        robot_config = {}
+    if not isinstance(robot_config, Mapping):
+        raise ValueError("Config field 'robot' must be a mapping")
+
+    camera_config = robot_config.get("head_view_camera", {})
+    if camera_config is None:
+        camera_config = {}
+    if not isinstance(camera_config, Mapping):
+        raise ValueError("Config field 'robot.head_view_camera' must be a mapping")
+
+    prim_path = str(
+        camera_config.get("prim_path", "/World/TeleopTargets/HeadViewCamera")
+    ).strip()
+    if not prim_path:
+        raise ValueError(
+            "Config field 'robot.head_view_camera.prim_path' must be non-empty"
+        )
+
+    return HeadViewCameraConfig(
+        enabled=bool(camera_config.get("enabled", True)),
+        activate_on_calibration=bool(
+            camera_config.get("activate_on_calibration", True)
+        ),
+        prim_path=prim_path,
+        translation_offset_m=_float_tuple(
+            camera_config.get("translation_offset_m"),
+            name="robot.head_view_camera.translation_offset_m",
+            length=3,
+            default=(0.0, 0.0, 0.0),
+        ),
+        orientation_offset_rpy_deg=_float_tuple(
+            camera_config.get("orientation_offset_rpy_deg"),
+            name="robot.head_view_camera.orientation_offset_rpy_deg",
+            length=3,
+            default=(90.0, 0.0, 90.0),
+        ),
+        horizontal_aperture_mm=float(
+            camera_config.get("horizontal_aperture_mm", 20.955)
+        ),
+        focal_length_mm=float(camera_config.get("focal_length_mm", 18.14756)),
+        clipping_range_m=_float_tuple(
+            camera_config.get("clipping_range_m"),
+            name="robot.head_view_camera.clipping_range_m",
+            length=2,
+            default=(0.01, 1000.0),
+        ),
+    )
+
+
+def _head_view_xr_display_config(config: Mapping[str, Any]) -> HeadViewXrDisplayConfig:
+    robot_config = config.get("robot", {})
+    if robot_config is None:
+        robot_config = {}
+    if not isinstance(robot_config, Mapping):
+        raise ValueError("Config field 'robot' must be a mapping")
+
+    xr_config = robot_config.get("head_view_xr_display", {})
+    if xr_config is None:
+        xr_config = {}
+    if not isinstance(xr_config, Mapping):
+        raise ValueError("Config field 'robot.head_view_xr_display' must be a mapping")
+
+    resolution_values = xr_config.get("resolution_px", (960, 540))
+    if isinstance(resolution_values, (str, bytes)) or not isinstance(
+        resolution_values, Sequence
+    ):
+        raise ValueError(
+            "Config field 'robot.head_view_xr_display.resolution_px' must be a sequence"
+        )
+    resolution_tuple = tuple(int(value) for value in resolution_values)
+    if (
+        len(resolution_tuple) != 2
+        or resolution_tuple[0] <= 0
+        or resolution_tuple[1] <= 0
+    ):
+        raise ValueError(
+            "Config field 'robot.head_view_xr_display.resolution_px' must contain two positive integers"
+        )
+
+    lock_mode_raw = str(xr_config.get("lock_mode", "head")).strip().lower()
+    lock_mode_aliases = {
+        "head": "head",
+        "head_locked": "head",
+        "world": "world",
+        "world_locked": "world",
+    }
+    lock_mode = lock_mode_aliases.get(lock_mode_raw, lock_mode_raw)
+    if lock_mode not in {"head", "world"}:
+        raise ValueError(
+            "Config field 'robot.head_view_xr_display.lock_mode' must be 'head' or 'world'"
+        )
+
+    return HeadViewXrDisplayConfig(
+        enabled=bool(xr_config.get("enabled", False)),
+        activate_on_calibration=bool(xr_config.get("activate_on_calibration", True)),
+        app_name=str(xr_config.get("app_name", "G1HeadViewXrDisplay")).strip()
+        or "G1HeadViewXrDisplay",
+        resolution_px=(resolution_tuple[0], resolution_tuple[1]),
+        lock_mode=lock_mode,
+        distance_m=float(xr_config.get("distance_m", 1.2)),
+        offset_x_m=float(xr_config.get("offset_x_m", 0.0)),
+        offset_y_m=float(xr_config.get("offset_y_m", 0.0)),
+        plane_width_m=float(xr_config.get("plane_width_m", 2.2)),
+        near_z_m=float(xr_config.get("near_z_m", 0.05)),
+        far_z_m=float(xr_config.get("far_z_m", 100.0)),
+        clear_color_rgba=_float_tuple(
+            xr_config.get("clear_color_rgba"),
+            name="robot.head_view_xr_display.clear_color_rgba",
+            length=4,
+            default=(0.0, 0.0, 0.0, 1.0),
+        ),
+    )
+
+
+def _auxiliary_viewport_config(config: Mapping[str, Any]) -> AuxiliaryViewportConfig:
+    robot_config = config.get("robot", {})
+    if robot_config is None:
+        robot_config = {}
+    if not isinstance(robot_config, Mapping):
+        raise ValueError("Config field 'robot' must be a mapping")
+
+    aux_config = robot_config.get("auxiliary_viewport", {})
+    if aux_config is None:
+        aux_config = {}
+    if not isinstance(aux_config, Mapping):
+        raise ValueError("Config field 'robot.auxiliary_viewport' must be a mapping")
+
+    resolution_values = aux_config.get("resolution_px", (960, 540))
+    if isinstance(resolution_values, (str, bytes)) or not isinstance(
+        resolution_values, Sequence
+    ):
+        raise ValueError(
+            "Config field 'robot.auxiliary_viewport.resolution_px' must be a sequence"
+        )
+    resolution_tuple = tuple(int(value) for value in resolution_values)
+    if (
+        len(resolution_tuple) != 2
+        or resolution_tuple[0] <= 0
+        or resolution_tuple[1] <= 0
+    ):
+        raise ValueError(
+            "Config field 'robot.auxiliary_viewport.resolution_px' must contain two positive integers"
+        )
+
+    position_values = aux_config.get("position_px", (40, 40))
+    if isinstance(position_values, (str, bytes)) or not isinstance(
+        position_values, Sequence
+    ):
+        raise ValueError(
+            "Config field 'robot.auxiliary_viewport.position_px' must be a sequence"
+        )
+    position_tuple = tuple(int(value) for value in position_values)
+    if len(position_tuple) != 2:
+        raise ValueError(
+            "Config field 'robot.auxiliary_viewport.position_px' must contain two integers"
+        )
+
+    return AuxiliaryViewportConfig(
+        enabled=bool(aux_config.get("enabled", True)),
+        activate_on_calibration=bool(aux_config.get("activate_on_calibration", True)),
+        window_name=str(aux_config.get("window_name", "Teleop Default View")).strip()
+        or "Teleop Default View",
+        resolution_px=(resolution_tuple[0], resolution_tuple[1]),
+        position_px=(position_tuple[0], position_tuple[1]),
+    )
+
+
+def _quat_wxyz_normalize(
+    quat_wxyz: Sequence[float],
+) -> tuple[float, float, float, float]:
+    quat = np.asarray(quat_wxyz, dtype=np.float64)
+    norm = float(np.linalg.norm(quat))
+    if norm <= 1e-8:
+        return (1.0, 0.0, 0.0, 0.0)
+    quat /= norm
+    return tuple(float(value) for value in quat)
+
+
+def _quat_wxyz_mul(
+    lhs_wxyz: Sequence[float], rhs_wxyz: Sequence[float]
+) -> tuple[float, float, float, float]:
+    lw, lx, ly, lz = _quat_wxyz_normalize(lhs_wxyz)
+    rw, rx, ry, rz = _quat_wxyz_normalize(rhs_wxyz)
+    return (
+        lw * rw - lx * rx - ly * ry - lz * rz,
+        lw * rx + lx * rw + ly * rz - lz * ry,
+        lw * ry - lx * rz + ly * rw + lz * rx,
+        lw * rz + lx * ry - ly * rx + lz * rw,
+    )
+
+
+def _quat_wxyz_rotate(
+    quat_wxyz: Sequence[float], vector_xyz: Sequence[float]
+) -> tuple[float, float, float]:
+    qw, qx, qy, qz = _quat_wxyz_normalize(quat_wxyz)
+    vector = np.asarray(vector_xyz, dtype=np.float64)
+    qvec = np.asarray([qx, qy, qz], dtype=np.float64)
+    uv = np.cross(qvec, vector)
+    uuv = np.cross(qvec, uv)
+    rotated = vector + 2.0 * (qw * uv + uuv)
+    return tuple(float(value) for value in rotated)
+
+
+def _yaw_quat_wxyz(yaw_rad: float) -> tuple[float, float, float, float]:
+    return (
+        float(np.cos(yaw_rad * 0.5)),
+        0.0,
+        float(np.sin(yaw_rad * 0.5)),
+        0.0,
+    )
+
+
+class HeadViewXrDisplayBridge:
+    """Present the robot head-view camera in the AVP headset via a shared XR session."""
+
+    _IDENTITY_ROT_WXYZ = (1.0, 0.0, 0.0, 0.0)
+
+    def __init__(
+        self,
+        *,
+        config: HeadViewXrDisplayConfig,
+        camera_prim_path: str,
+        required_xr_extensions: Sequence[str],
+        sim_device: str,
+    ) -> None:
+        ensure_import_paths()
+        try:
+            import isaacteleop.viz as viz
+        except ModuleNotFoundError as exc:
+            raise ModuleNotFoundError(
+                "robot.head_view_xr_display requires isaacteleop.viz, but the Televiz "
+                "Python module is not available. Rebuild IsaacTeleop with "
+                "`cmake -B build-local -DBUILD_VIZ=ON && cmake --build build-local "
+                "--target python_wheel` so isaacteleop.viz._viz is produced."
+            ) from exc
+
+        try:
+            from isaacteleop.oxr import OpenXRSessionHandles
+        except ModuleNotFoundError as exc:
+            raise ModuleNotFoundError(
+                "robot.head_view_xr_display requires isaacteleop.oxr to share the XR session."
+            ) from exc
+
+        if not str(sim_device).startswith("cuda"):
+            raise ValueError(
+                "robot.head_view_xr_display currently requires a CUDA Isaac Sim device"
+            )
+
+        rep = _import_omni_replicator_core()
+        self._config = config
+        self._camera_prim_path = str(camera_prim_path)
+        self._rep = rep
+        self._viz = viz
+        self._capture_device = str(sim_device)
+        self._visible = False
+        self._render_product = None
+        self._rgb_annotator = None
+        self._render_error: BaseException | None = None
+        self._stop = threading.Event()
+        self._render_thread: threading.Thread | None = None
+        self._world_locked_pose: (
+            tuple[
+                tuple[float, float, float],
+                tuple[float, float, float, float],
+            ]
+            | None
+        ) = None
+        self._plane_size_m = (
+            float(config.plane_width_m),
+            float(config.plane_width_m)
+            * float(config.resolution_px[1])
+            / float(config.resolution_px[0]),
+        )
+
+        session_cfg = viz.VizSessionConfig()
+        session_cfg.mode = viz.DisplayMode.kXr
+        session_cfg.app_name = config.app_name
+        session_cfg.xr_near_z = float(config.near_z_m)
+        session_cfg.xr_far_z = float(config.far_z_m)
+        session_cfg.required_extensions = list(required_xr_extensions)
+        session_cfg.clear_color = tuple(
+            float(value) for value in config.clear_color_rgba
+        )
+        self._viz_session = viz.VizSession.create(session_cfg)
+
+        oxr_handles_tuple = self._viz_session.get_oxr_handles()
+        if oxr_handles_tuple is None:
+            raise RuntimeError(
+                "Televiz XR session was created, but no OpenXR handles were exposed for TeleopSession sharing."
+            )
+        self._oxr_handles = OpenXRSessionHandles(*oxr_handles_tuple)
+
+        layer_cfg = viz.QuadLayerConfig()
+        layer_cfg.name = "robot_head_view_xr"
+        layer_cfg.resolution = viz.Resolution(
+            int(config.resolution_px[0]), int(config.resolution_px[1])
+        )
+        layer_cfg.format = viz.PixelFormat.kRGBA8
+        layer_cfg.placement = self._initial_placement()
+        self._layer = self._viz_session.add_quad_layer(layer_cfg)
+        self._layer.set_visible(False)
+        self._create_camera_render_product()
+
+        self._render_thread = threading.Thread(
+            target=self._render_loop,
+            name="g1_head_view_xr_render",
+            daemon=False,
+        )
+        self._render_thread.start()
+
+    @property
+    def oxr_handles(self) -> Any:
+        return self._oxr_handles
+
+    def set_visible(self, visible: bool) -> None:
+        self._raise_if_failed()
+        new_visible = bool(visible)
+        if new_visible == self._visible:
+            return
+        self._layer.set_visible(new_visible)
+        self._visible = new_visible
+
+    def submit_frame(self) -> bool:
+        self._raise_if_failed()
+        rgba = self._read_camera_frame()
+        if rgba is None:
+            return False
+        self._layer.submit(self._coerce_cuda_image(rgba))
+        return True
+
+    def close(self) -> None:
+        self._stop.set()
+        if self._render_thread is not None:
+            self._render_thread.join(timeout=5.0)
+            if self._render_thread.is_alive():
+                print(
+                    "Head-view XR display render thread did not exit within 5s; "
+                    "skipping explicit Televiz destruction to avoid tearing down an active XR session.",
+                    flush=True,
+                )
+            else:
+                self._render_thread = None
+        self._destroy_camera_render_product()
+        if self._render_thread is None:
+            viz_session = getattr(self, "_viz_session", None)
+            if viz_session is not None:
+                viz_session.destroy()
+                self._viz_session = None
+        if self._render_error is not None:
+            print(
+                f"Head-view XR display render loop stopped with error: {self._render_error}",
+                file=sys.stderr,
+                flush=True,
+            )
+
+    def _raise_if_failed(self) -> None:
+        if self._render_error is not None:
+            raise RuntimeError(
+                f"Head-view XR display render loop failed: {self._render_error}"
+            ) from self._render_error
+
+    def _create_camera_render_product(self) -> None:
+        try:
+            self._render_product = self._rep.create.render_product(
+                self._camera_prim_path,
+                (
+                    int(self._config.resolution_px[0]),
+                    int(self._config.resolution_px[1]),
+                ),
+                force_new=True,
+            )
+            self._rgb_annotator = self._rep.AnnotatorRegistry.get_annotator(
+                "LdrColor",
+                device="cuda",
+                do_array_copy=False,
+            )
+            self._rgb_annotator.attach(self._render_product)
+        except Exception:
+            self._destroy_camera_render_product()
+            raise
+
+    def _destroy_camera_render_product(self) -> None:
+        annotator = getattr(self, "_rgb_annotator", None)
+        if annotator is not None:
+            try:
+                annotator.detach()
+            except Exception:
+                pass
+            self._rgb_annotator = None
+        render_product = getattr(self, "_render_product", None)
+        if render_product is not None:
+            try:
+                render_product.destroy()
+            except Exception:
+                pass
+            self._render_product = None
+
+    def _read_camera_frame(self) -> Any | None:
+        if self._stop.is_set():
+            return None
+        annotator = self._rgb_annotator
+        if annotator is None:
+            return None
+        try:
+            rgba = annotator.get_data(device="cuda")
+        except Exception as exc:
+            self._render_error = exc
+            raise
+        if rgba is None:
+            return None
+        if isinstance(rgba, Mapping):
+            rgba = rgba.get("data")
+        if rgba is None:
+            return None
+        try:
+            import warp as wp
+
+            # Replicator commonly returns a Warp CUDA array here. Converting once
+            # to Torch normalizes vec4-vs-last-dimension layouts and avoids Warp's
+            # Python indexing limitations (for example ``[..., :4]``).
+            if isinstance(rgba, wp.array):
+                rgba = wp.to_torch(rgba)
+        except Exception:
+            pass
+        shape = tuple(int(dim) for dim in getattr(rgba, "shape", ()))
+        # Freshly attached render products often need a few rendered frames before
+        # LdrColor exposes a real HxWxC image. Treat that warm-up window as
+        # "frame not ready yet" instead of tearing down the teleop session.
+        if len(shape) < 3 or shape[0] <= 0 or shape[1] <= 0 or shape[-1] < 4:
+            return None
+        if shape[-1] == 4:
+            return rgba
+        return rgba[..., :4]
+
+    def _coerce_cuda_image(self, image: Any) -> Any:
+        if hasattr(image, "__cuda_array_interface__"):
+            return image
+        if hasattr(image, "__dlpack__"):
+            try:
+                import warp as wp
+
+                converted = wp.to_torch(image)
+                if hasattr(converted, "__cuda_array_interface__"):
+                    return converted
+            except Exception:
+                pass
+        if hasattr(image, "__array_interface__"):
+            import torch
+
+            return torch.as_tensor(
+                np.asarray(image), device=self._capture_device
+            ).contiguous()
+        raise TypeError(
+            "Head-view XR display received a camera frame that does not expose "
+            "__cuda_array_interface__ or __array_interface__."
+        )
+
+    def _initial_placement(self) -> Any:
+        return self._viz.QuadLayerPlacement(
+            self._viz.Pose3D(
+                (0.0, 1.5, -float(self._config.distance_m)),
+                self._IDENTITY_ROT_WXYZ,
+            ),
+            self._plane_size_m,
+        )
+
+    def _render_loop(self) -> None:
+        try:
+            while not self._stop.is_set():
+                self._update_layer_placement()
+                self._viz_session.render()
+                if self._viz_session.should_close():
+                    self._stop.set()
+        except BaseException as exc:
+            self._render_error = exc
+            self._stop.set()
+
+    def _update_layer_placement(self) -> None:
+        head_pose = self._viz_session.head_pose_now()
+        if head_pose is None:
+            return
+        head_position = tuple(float(value) for value in head_pose.position)
+        head_orientation = tuple(float(value) for value in head_pose.orientation)
+        if self._config.lock_mode == "world":
+            if self._world_locked_pose is None:
+                self._world_locked_pose = self._compute_world_locked_pose(
+                    head_position, head_orientation
+                )
+            position, orientation = self._world_locked_pose
+        else:
+            position, orientation = self._compute_head_locked_pose(
+                head_position, head_orientation
+            )
+        self._layer.set_placement(
+            self._viz.QuadLayerPlacement(
+                self._viz.Pose3D(position, orientation),
+                self._plane_size_m,
+            )
+        )
+
+    def _compute_head_locked_pose(
+        self,
+        head_position: tuple[float, float, float],
+        head_orientation: tuple[float, float, float, float],
+    ) -> tuple[
+        tuple[float, float, float],
+        tuple[float, float, float, float],
+    ]:
+        forward = _quat_wxyz_rotate(head_orientation, (0.0, 0.0, -1.0))
+        right = _quat_wxyz_rotate(head_orientation, (1.0, 0.0, 0.0))
+        up = _quat_wxyz_rotate(head_orientation, (0.0, 1.0, 0.0))
+        position = (
+            head_position[0]
+            + forward[0] * self._config.distance_m
+            + right[0] * self._config.offset_x_m
+            + up[0] * self._config.offset_y_m,
+            head_position[1]
+            + forward[1] * self._config.distance_m
+            + right[1] * self._config.offset_x_m
+            + up[1] * self._config.offset_y_m,
+            head_position[2]
+            + forward[2] * self._config.distance_m
+            + right[2] * self._config.offset_x_m
+            + up[2] * self._config.offset_y_m,
+        )
+        orientation = _quat_wxyz_mul(head_orientation, self._IDENTITY_ROT_WXYZ)
+        return position, orientation
+
+    def _compute_world_locked_pose(
+        self,
+        head_position: tuple[float, float, float],
+        head_orientation: tuple[float, float, float, float],
+    ) -> tuple[
+        tuple[float, float, float],
+        tuple[float, float, float, float],
+    ]:
+        forward = np.asarray(
+            _quat_wxyz_rotate(head_orientation, (0.0, 0.0, -1.0)),
+            dtype=np.float64,
+        )
+        forward[1] = 0.0
+        forward_norm = float(np.linalg.norm(forward))
+        if forward_norm <= 1e-8:
+            forward = np.asarray([0.0, 0.0, -1.0], dtype=np.float64)
+        else:
+            forward /= forward_norm
+        right = np.asarray([-forward[2], 0.0, forward[0]], dtype=np.float64)
+        position = (
+            head_position[0]
+            + float(forward[0]) * self._config.distance_m
+            + float(right[0]) * self._config.offset_x_m,
+            head_position[1] + self._config.offset_y_m,
+            head_position[2]
+            + float(forward[2]) * self._config.distance_m
+            + float(right[2]) * self._config.offset_x_m,
+        )
+        yaw = float(
+            np.arctan2(head_position[0] - position[0], head_position[2] - position[2])
+        )
+        return position, _quat_wxyz_mul(_yaw_quat_wxyz(yaw), self._IDENTITY_ROT_WXYZ)
+
+
+class AuxiliaryViewportController:
+    """Manage a secondary viewport that preserves the scene's initial camera view."""
+
+    def __init__(
+        self,
+        *,
+        config: AuxiliaryViewportConfig,
+        viewport_utility: Any,
+        initial_camera_path: str | None,
+    ) -> None:
+        self._config = config
+        self._viewport_utility = viewport_utility
+        self._initial_camera_path = (
+            None if initial_camera_path is None else str(initial_camera_path)
+        )
+        self._window = None
+
+    def show(self) -> None:
+        if not self._initial_camera_path:
+            return
+        if self._window is None:
+            self._window = self._viewport_utility.create_viewport_window(
+                name=self._config.window_name,
+                width=int(self._config.resolution_px[0]),
+                height=int(self._config.resolution_px[1]),
+                position_x=int(self._config.position_px[0]),
+                position_y=int(self._config.position_px[1]),
+                camera_path=self._initial_camera_path,
+            )
+            self._dock_to_main_viewport_async()
+        if self._window is None:
+            return
+        self._window.viewport_api.camera_path = self._initial_camera_path
+        self._window.visible = True
+
+    def hide(self) -> None:
+        if self._window is not None:
+            self._window.visible = False
+
+    def close(self) -> None:
+        window = self._window
+        self._window = None
+        if window is None:
+            return
+        try:
+            window.visible = False
+        except Exception:
+            pass
+        try:
+            window.destroy()
+        except Exception:
+            pass
+
+    def _dock_to_main_viewport_async(self) -> None:
+        window = self._window
+        if window is None:
+            return
+
+        async def dock_window() -> None:
+            try:
+                import omni.ui as ui
+                import omni.kit.app
+
+                await omni.kit.app.get_app().next_update_async()
+                main_viewport = ui.Workspace.get_window("Viewport")
+                if main_viewport is not None and window is not None:
+                    window.dock_in(main_viewport, ui.DockPosition.RIGHT, 0.35)
+            except Exception:
+                pass
+
+        try:
+            asyncio.ensure_future(dock_window())
+        except Exception:
+            pass
+
+
+@dataclass(frozen=True)
+class ArmIkSideConfig:
+    body_name: str
+    body_offset_pos: tuple[float, float, float]
+    body_offset_quat_xyzw: tuple[float, float, float, float]
+    target_orientation_correction_quat_xyzw: tuple[float, float, float, float]
+    joint_names: tuple[str, ...]
+
+
+@dataclass(frozen=True)
+class ArmIkRuntimeConfig:
+    status_label: str = "teleop"
+    enabled: bool = True
+    marker_scale: float | None = None
+    marker_z_offset: float | None = None
+    command_type: str = "pose"
+    startup_relative_position: bool = True
+    startup_relative_orientation: bool = True
+    position_error_scale: float = 1.0
+    orientation_error_scale: float = 0.35
+    position_deadband_m: float = 0.003
+    orientation_deadband_rad: float = 0.06
+    ik_method: str = "dls"
+    damping: float = 0.05
+    smoothing_alpha: float = 0.35
+    clamp_to_joint_limits: bool = True
+    sides: dict[str, ArmIkSideConfig] = field(default_factory=dict)
+
+
+def _default_config_path() -> Path:
+    return default_config_path()
+
+
+def _load_yaml_file(path: Path) -> dict[str, Any]:
+    try:
+        import yaml
+    except ModuleNotFoundError as exc:
+        raise ModuleNotFoundError(
+            "PyYAML is required to load the teleop config file."
+        ) from exc
+
+    with path.open("r", encoding="utf-8") as stream:
+        data = yaml.safe_load(stream) or {}
+    if not isinstance(data, dict):
+        raise ValueError(f"Config root must be a mapping: {path}")
+    return data
+
+
+def _robot_initial_world_position(
+    config: Mapping[str, Any],
+) -> tuple[float, float, float]:
+    robot_config = config.get("robot", {})
+    if robot_config is None:
+        return (0.0, 0.0, 0.0)
+    if not isinstance(robot_config, Mapping):
+        raise ValueError("Config field 'robot' must be a mapping")
+
+    return _float_tuple(
+        robot_config.get("initial_world_position"),
+        name="robot.initial_world_position",
+        length=3,
+        default=(0.0, 0.0, 0.0),
+    )
+
+
+def _robot_initial_world_orientation_xyzw(
+    config: Mapping[str, Any],
+) -> tuple[float, float, float, float]:
+    robot_config = config.get("robot", {})
+    if robot_config is None:
+        return (0.0, 0.0, 0.0, 1.0)
+    if not isinstance(robot_config, Mapping):
+        raise ValueError("Config field 'robot' must be a mapping")
+
+    # The first version of this config key was misnamed as wxyz. Keep it as a
+    # short-term alias, but IsaacLab's root InitialStateCfg.rot is xyzw here.
+    raw_quat = robot_config.get("initial_world_orientation_xyzw")
+    if raw_quat is None:
+        raw_quat = robot_config.get("initial_world_orientation_wxyz")
+    quat = _float_tuple(
+        raw_quat,
+        name="robot.initial_world_orientation_xyzw",
+        length=4,
+        default=(0.0, 0.0, 0.0, 1.0),
+    )
+    norm = sum(value * value for value in quat) ** 0.5
+    if norm < 1.0e-8:
+        raise ValueError(
+            "Config field 'robot.initial_world_orientation_xyzw' must be non-zero"
+        )
+    return tuple(value / norm for value in quat)
+
+
+def _float_tuple(
+    values: Any,
+    *,
+    name: str,
+    length: int,
+    default: Sequence[float],
+) -> tuple[float, ...]:
+    raw = default if values is None else values
+    if not isinstance(raw, Sequence) or isinstance(raw, (str, bytes)):
+        raise ValueError(f"Config field {name!r} must be a {length}-element sequence")
+    if len(raw) != length:
+        raise ValueError(f"Config field {name!r} must contain exactly {length} values")
+    return tuple(float(value) for value in raw)
+
+
+def _arm_ik_runtime_config(config: Mapping[str, Any]) -> ArmIkRuntimeConfig:
+    profile = robot_profile_from_config(config)
+    robot_config = config.get("robot", {})
+    if robot_config is None:
+        robot_config = {}
+    if not isinstance(robot_config, Mapping):
+        raise ValueError("Config field 'robot' must be a mapping")
+
+    # Keep the arm IK body bindings pinned in code rather than mirroring them in
+    # the teleop YAML. These offsets are asset-specific and tuned together.
+    sides = {
+        "left": ArmIkSideConfig(
+            body_name=profile.ik_body_names["left"],
+            body_offset_pos=profile.ik_body_offset_pos["left"],
+            body_offset_quat_xyzw=profile.ik_body_offset_quat_xyzw["left"],
+            target_orientation_correction_quat_xyzw=(
+                profile.ik_target_orientation_correction_quat_xyzw["left"]
+            ),
+            joint_names=ARM_JOINTS["left"],
+        ),
+        "right": ArmIkSideConfig(
+            body_name=profile.ik_body_names["right"],
+            body_offset_pos=profile.ik_body_offset_pos["right"],
+            body_offset_quat_xyzw=profile.ik_body_offset_quat_xyzw["right"],
+            target_orientation_correction_quat_xyzw=(
+                profile.ik_target_orientation_correction_quat_xyzw["right"]
+            ),
+            joint_names=ARM_JOINTS["right"],
+        ),
+    }
+
+    return ArmIkRuntimeConfig(
+        status_label=profile.status_label,
+        enabled=True,
+        marker_scale=None,
+        marker_z_offset=None,
+        command_type="pose",
+        startup_relative_position=True,
+        startup_relative_orientation=True,
+        position_error_scale=0.8,
+        orientation_error_scale=0.8,
+        position_deadband_m=0.004,
+        orientation_deadband_rad=0.08,
+        ik_method="dls",
+        damping=0.05,
+        smoothing_alpha=0.80,
+        clamp_to_joint_limits=True,
+        sides=sides,
+    )
+
+
+def _use_native_hand_targets(config: Mapping[str, Any]) -> bool:
+    retargeting_config = config.get("retargeting", {})
+    if retargeting_config is None:
+        retargeting_config = {}
+    if not isinstance(retargeting_config, Mapping):
+        raise ValueError("Config field 'retargeting' must be a mapping")
+
+    method = retargeting_config.get("method")
+    if method is not None:
+        normalized_method = str(method).strip().lower()
+        aliases = {
+            "native": "native_dex",
+            "native_dex": "native_dex",
+            "dex": "native_dex",
+            "dexhand": "native_dex",
+            "dex_hand": "native_dex",
+            "official": "official_wuji",
+            "official_wuji": "official_wuji",
+            "wuji": "official_wuji",
+        }
+        normalized_method = aliases.get(normalized_method, normalized_method)
+        if normalized_method == "native_dex":
+            return True
+        if normalized_method == "official_wuji":
+            return False
+        raise ValueError(
+            "Config field 'retargeting.method' must be one of "
+            "['native_dex', 'official_wuji']"
+        )
+
+    robot_config = config.get("robot", {})
+    if robot_config is None:
+        robot_config = {}
+    if not isinstance(robot_config, Mapping):
+        raise ValueError("Config field 'robot' must be a mapping")
+    return bool(robot_config.get("use_native_hand_retargeting", False))
+
+
+def _load_isaac_lab():
+    try:
+        from isaaclab.app import AppLauncher
+    except ModuleNotFoundError as exc:
+        raise ModuleNotFoundError(
+            "Isaac Lab Python modules were not found. "
+            "Run this script with Isaac Lab's Python environment, "
+            "for example /home/lightwheel/workspace/isaaclab/env_isaaclab/bin/python."
+        ) from exc
+
+    return AppLauncher
+
+
+class DualArmIkController:
+    """Drive G1 arm joints from left/right end-effector pose targets."""
+
+    def __init__(
+        self,
+        robot: Any,
+        config: ArmIkRuntimeConfig,
+        *,
+        device: str,
+        pose_binding: AvpRobotFrameBinding | None,
+    ) -> None:
+        import torch
+        import warp as wp
+        from isaaclab.controllers import DifferentialIKController
+        from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
+        from isaaclab.utils import math as math_utils
+
+        self._robot = robot
+        self._config = config
+        self._pose_binding = pose_binding
+        self._device = device
+        self._torch = torch
+        self._wp = wp
+        self._math_utils = math_utils
+        self._controllers: dict[str, Any] = {}
+        self._joint_ids: dict[str, Sequence[int] | slice] = {}
+        self._joint_id_lists: dict[str, list[int]] = {}
+        self._joint_names: dict[str, tuple[str, ...]] = {}
+        self._body_ids: dict[str, int] = {}
+        self._body_names: dict[str, str] = {}
+        self._jacobi_body_ids: dict[str, int] = {}
+        self._jacobi_joint_ids: dict[str, list[int]] = {}
+        self._offset_pos: dict[str, Any] = {}
+        self._offset_rot: dict[str, Any] = {}
+        self._target_rot_correction: dict[str, Any] = {}
+        self._last_targets: dict[str, Any] = {}
+        self._last_target_poses_root: dict[str, tuple[Any, Any]] = {}
+        self._startup_target_refs: dict[str, tuple[Any, Any, Any, Any]] = {}
+        self._startup_ref_announced: set[str] = set()
+
+        ik_params = self._ik_params()
+        for side, side_config in config.sides.items():
+            joint_ids, resolved_joint_names = robot.find_joints(
+                list(side_config.joint_names), preserve_order=True
+            )
+            missing = [
+                name
+                for name in side_config.joint_names
+                if name not in resolved_joint_names
+            ]
+            if missing:
+                raise RuntimeError(
+                    f"{self._config.status_label} USD is missing {side} arm joints: {missing[:8]}"
+                )
+
+            body_ids, body_names = robot.find_bodies(side_config.body_name)
+            if len(body_ids) != 1:
+                raise RuntimeError(
+                    f"Expected one {side} IK body match for {side_config.body_name!r}; "
+                    f"got {len(body_ids)}: {body_names}"
+                )
+
+            body_idx = int(body_ids[0])
+            joint_id_list = [int(joint_id) for joint_id in joint_ids]
+            if getattr(robot, "is_fixed_base", False):
+                jacobi_body_idx = body_idx - 1
+                jacobi_joint_ids = joint_id_list
+            else:
+                jacobi_body_idx = body_idx
+                jacobi_joint_ids = [joint_id + 6 for joint_id in joint_id_list]
+
+            controller_cfg = DifferentialIKControllerCfg(
+                command_type=config.command_type,
+                use_relative_mode=False,
+                ik_method=config.ik_method,
+                ik_params=ik_params,
+            )
+            self._controllers[side] = DifferentialIKController(
+                cfg=controller_cfg,
+                num_envs=1,
+                device=device,
+            )
+            self._joint_id_lists[side] = joint_id_list
+            self._joint_ids[side] = (
+                slice(None) if len(joint_id_list) == robot.num_joints else joint_id_list
+            )
+            self._joint_names[side] = tuple(str(name) for name in resolved_joint_names)
+            self._body_ids[side] = body_idx
+            self._body_names[side] = str(body_names[0])
+            self._jacobi_body_ids[side] = int(jacobi_body_idx)
+            self._jacobi_joint_ids[side] = jacobi_joint_ids
+            self._offset_pos[side] = torch.tensor(
+                side_config.body_offset_pos,
+                dtype=torch.float32,
+                device=device,
+            ).unsqueeze(0)
+            self._offset_rot[side] = torch.tensor(
+                side_config.body_offset_quat_xyzw,
+                dtype=torch.float32,
+                device=device,
+            ).unsqueeze(0)
+            self._target_rot_correction[side] = self._math_utils.quat_unique(
+                self._math_utils.normalize(
+                    torch.tensor(
+                        side_config.target_orientation_correction_quat_xyzw,
+                        dtype=torch.float32,
+                        device=device,
+                    ).unsqueeze(0)
+                )
+            )
+
+    def _ik_params(self) -> dict[str, float]:
+        if self._config.ik_method == "dls":
+            return {"lambda_val": self._config.damping}
+        if self._config.ik_method == "pinv":
+            return {"k_val": 1.0}
+        if self._config.ik_method == "trans":
+            return {"k_val": 1.0}
+        if self._config.ik_method == "svd":
+            return {"k_val": 1.0, "min_singular_value": 1.0e-5}
+        return {}
+
+    def _frame_pose_root(self, side: str) -> tuple[Any, Any]:
+        body_idx = self._body_ids[side]
+        ee_pos_w = self._wp.to_torch(self._robot.data.body_pos_w)[:, body_idx]
+        ee_quat_w = self._wp.to_torch(self._robot.data.body_quat_w)[:, body_idx]
+        root_pos_w = self._wp.to_torch(self._robot.data.root_pos_w)
+        root_quat_w = self._wp.to_torch(self._robot.data.root_quat_w)
+        ee_pos_b, ee_quat_b = self._math_utils.subtract_frame_transforms(
+            root_pos_w, root_quat_w, ee_pos_w, ee_quat_w
+        )
+        return self._math_utils.combine_frame_transforms(
+            ee_pos_b,
+            ee_quat_b,
+            self._offset_pos[side],
+            self._offset_rot[side],
+        )
+
+    def frame_pose_world_np(self) -> dict[str, tuple[np.ndarray, np.ndarray]]:
+        poses: dict[str, tuple[np.ndarray, np.ndarray]] = {}
+        for side in ("left", "right"):
+            body_idx = self._body_ids[side]
+            body_pos = self._wp.to_torch(self._robot.data.body_pos_w)[:, body_idx]
+            body_quat = self._wp.to_torch(self._robot.data.body_quat_w)[:, body_idx]
+            pos_w, quat_w = self._math_utils.combine_frame_transforms(
+                body_pos,
+                body_quat,
+                self._offset_pos[side],
+                self._offset_rot[side],
+            )
+            rot_w = self._math_utils.matrix_from_quat(quat_w)
+            poses[side] = (
+                pos_w[0].detach().cpu().numpy().astype(np.float32),
+                rot_w[0].detach().cpu().numpy().astype(np.float32),
+            )
+        return poses
+
+    def target_pose_world_np(self) -> dict[str, tuple[np.ndarray, np.ndarray]]:
+        poses: dict[str, tuple[np.ndarray, np.ndarray]] = {}
+        root_pos_w = self._wp.to_torch(self._robot.data.root_pos_w)
+        root_quat_w = self._wp.to_torch(self._robot.data.root_quat_w)
+        for side, target_pose_root in self._last_target_poses_root.items():
+            pos_b, quat_b = target_pose_root
+            pos_w, quat_w = self._math_utils.combine_frame_transforms(
+                root_pos_w,
+                root_quat_w,
+                pos_b,
+                quat_b,
+            )
+            rot_w = self._math_utils.matrix_from_quat(quat_w)
+            poses[side] = (
+                pos_w[0].detach().cpu().numpy().astype(np.float32),
+                rot_w[0].detach().cpu().numpy().astype(np.float32),
+            )
+        return poses
+
+    def _target_pose_root(
+        self, side: str, pose: Mapping[str, Any]
+    ) -> tuple[Any, Any] | None:
+        if self._pose_binding is not None:
+            target_pose = self._pose_binding.transform_pose(side, pose)
+            if target_pose is None:
+                return None
+            pos_w_np, quat_w_np = target_pose
+        else:
+            pos_w_np, quat_w_np = openxr_pose_to_isaac_pose(
+                pose,
+                scale=1.0
+                if self._config.marker_scale is None
+                else self._config.marker_scale,
+                offset_z=0.0
+                if self._config.marker_z_offset is None
+                else self._config.marker_z_offset,
+            )
+        return self._target_pose_root_from_world_pose(
+            pos_w_np,
+            quat_w_np,
+            side=side,
+            apply_target_rot_correction=True,
+        )
+
+    def _target_pose_root_from_world_pose(
+        self,
+        pos_w_np: Sequence[float] | np.ndarray,
+        quat_w_np: Sequence[float] | np.ndarray,
+        *,
+        side: str | None = None,
+        apply_target_rot_correction: bool = False,
+    ) -> tuple[Any, Any]:
+        pos_w = self._torch.as_tensor(
+            pos_w_np,
+            dtype=self._torch.float32,
+            device=self._device,
+        ).unsqueeze(0)
+        quat_w = self._torch.as_tensor(
+            normalize_quat_xyzw(quat_w_np),
+            dtype=self._torch.float32,
+            device=self._device,
+        ).unsqueeze(0)
+        if apply_target_rot_correction:
+            if side is None:
+                raise ValueError(
+                    "side is required when applying target orientation correction"
+                )
+            quat_w = self._math_utils.normalize(
+                self._math_utils.quat_mul(quat_w, self._target_rot_correction[side])
+            )
+        else:
+            quat_w = self._math_utils.normalize(quat_w)
+        quat_w = self._math_utils.quat_unique(quat_w)
+        root_pos_w = self._wp.to_torch(self._robot.data.root_pos_w)
+        root_quat_w = self._wp.to_torch(self._robot.data.root_quat_w)
+        return self._math_utils.subtract_frame_transforms(
+            root_pos_w, root_quat_w, pos_w, quat_w
+        )
+
+    def _startup_relative_target(
+        self,
+        side: str,
+        target_pos: Any,
+        target_quat: Any,
+        ee_pos_curr: Any,
+        ee_quat_curr: Any,
+    ) -> tuple[Any, Any]:
+        if not (
+            self._config.startup_relative_position
+            or self._config.startup_relative_orientation
+        ):
+            return target_pos, target_quat
+
+        ref = self._startup_target_refs.get(side)
+        if ref is None:
+            ref = (
+                target_pos.detach().clone(),
+                self._math_utils.quat_unique(
+                    self._math_utils.normalize(target_quat.detach().clone())
+                ),
+                ee_pos_curr.detach().clone(),
+                self._math_utils.quat_unique(
+                    self._math_utils.normalize(ee_quat_curr.detach().clone())
+                ),
+            )
+            self._startup_target_refs[side] = ref
+            self._announce_startup_relative_target(side, ref)
+
+        target_start_pos, target_start_quat, ee_start_pos, ee_start_quat = ref
+        adjusted_pos = target_pos
+        adjusted_quat = target_quat
+
+        # AVP optical wrists and the robot EE rarely share a reliable absolute
+        # pose. Bind the first valid target to the current simulated EE, then
+        # command startup-relative translation and rotation deltas.
+        if self._config.startup_relative_position:
+            adjusted_pos = ee_start_pos + (target_pos - target_start_pos)
+        if self._config.startup_relative_orientation:
+            target_quat = self._math_utils.quat_unique(
+                self._math_utils.normalize(target_quat)
+            )
+            quat_delta = self._math_utils.quat_mul(
+                target_quat,
+                self._math_utils.quat_inv(target_start_quat),
+            )
+            adjusted_quat = self._math_utils.normalize(
+                self._math_utils.quat_mul(quat_delta, ee_start_quat)
+            )
+            adjusted_quat = self._math_utils.quat_unique(adjusted_quat)
+        return adjusted_pos, adjusted_quat
+
+    def _announce_startup_relative_target(
+        self,
+        side: str,
+        ref: tuple[Any, Any, Any, Any],
+    ) -> None:
+        if side in self._startup_ref_announced:
+            return
+        target_start_pos, target_start_quat, ee_start_pos, ee_start_quat = ref
+        print(
+            f"[{self._config.status_label}] {side} IK startup target reference calibrated "
+            f"relative_position={self._config.startup_relative_position} "
+            f"relative_orientation={self._config.startup_relative_orientation} "
+            f"target_pos={np.round(target_start_pos[0].detach().cpu().numpy(), 4).tolist()} "
+            f"ee_pos={np.round(ee_start_pos[0].detach().cpu().numpy(), 4).tolist()} "
+            f"target_quat_xyzw={np.round(target_start_quat[0].detach().cpu().numpy(), 4).tolist()} "
+            f"ee_quat_xyzw={np.round(ee_start_quat[0].detach().cpu().numpy(), 4).tolist()}",
+            flush=True,
+        )
+        self._startup_ref_announced.add(side)
+
+    def _compute_delta_joint_pos(self, delta_pose: Any, jacobian: Any) -> Any:
+        if self._config.ik_method == "pinv":
+            jacobian_pinv = self._torch.linalg.pinv(jacobian)
+            return (jacobian_pinv @ delta_pose.unsqueeze(-1)).squeeze(-1)
+        if self._config.ik_method == "svd":
+            min_singular_value = 1.0e-5
+            U, S, Vh = self._torch.linalg.svd(jacobian)
+            S_inv = 1.0 / S
+            S_inv = self._torch.where(
+                min_singular_value < S,
+                S_inv,
+                self._torch.zeros_like(S_inv),
+            )
+            jacobian_pinv = (
+                self._torch.transpose(Vh, dim0=1, dim1=2)[:, :, : jacobian.shape[1]]
+                @ self._torch.diag_embed(S_inv)
+                @ self._torch.transpose(U, dim0=1, dim1=2)
+            )
+            return (jacobian_pinv @ delta_pose.unsqueeze(-1)).squeeze(-1)
+        if self._config.ik_method == "trans":
+            jacobian_t = self._torch.transpose(jacobian, dim0=1, dim1=2)
+            return (jacobian_t @ delta_pose.unsqueeze(-1)).squeeze(-1)
+        if self._config.ik_method == "dls":
+            jacobian_t = self._torch.transpose(jacobian, dim0=1, dim1=2)
+            lambda_val = self._config.damping
+            lambda_matrix = (lambda_val**2) * self._torch.eye(
+                n=jacobian.shape[1],
+                device=self._device,
+            )
+            return (
+                jacobian_t
+                @ self._torch.inverse(jacobian @ jacobian_t + lambda_matrix)
+                @ delta_pose.unsqueeze(-1)
+            ).squeeze(-1)
+        raise ValueError(
+            f"Unsupported inverse-kinematics method: {self._config.ik_method}"
+        )
+
+    def _compute_joint_targets(
+        self,
+        side: str,
+        ee_pos_curr: Any,
+        ee_quat_curr: Any,
+        joint_pos: Any,
+    ) -> Any:
+        jacobian = self._frame_jacobian(side)
+        controller = self._controllers[side]
+        if self._config.command_type == "position":
+            return controller.compute(
+                ee_pos_curr,
+                ee_quat_curr,
+                jacobian,
+                joint_pos,
+            )
+
+        position_error, axis_angle_error = self._math_utils.compute_pose_error(
+            ee_pos_curr,
+            ee_quat_curr,
+            controller.ee_pos_des,
+            controller.ee_quat_des,
+            rot_error_type="axis_angle",
+        )
+        if self._config.position_deadband_m > 0.0:
+            position_norm = self._torch.linalg.norm(position_error, dim=1, keepdim=True)
+            position_error = self._torch.where(
+                position_norm <= self._config.position_deadband_m,
+                self._torch.zeros_like(position_error),
+                position_error,
+            )
+        if self._config.orientation_deadband_rad > 0.0:
+            orientation_norm = self._torch.linalg.norm(
+                axis_angle_error, dim=1, keepdim=True
+            )
+            axis_angle_error = self._torch.where(
+                orientation_norm <= self._config.orientation_deadband_rad,
+                self._torch.zeros_like(axis_angle_error),
+                axis_angle_error,
+            )
+        # Pose-mode wrist targets are much noisier in orientation than in translation.
+        # Down-weight angular error so small AVP wrist rotations do not yank the whole
+        # arm into a large reconfiguration before the translational target is reached.
+        position_error = position_error * self._config.position_error_scale
+        axis_angle_error = axis_angle_error * self._config.orientation_error_scale
+        pose_error = self._torch.cat((position_error, axis_angle_error), dim=1)
+        if bool(self._torch.all(self._torch.abs(pose_error) <= 1.0e-9)):
+            return joint_pos
+        delta_joint_pos = self._compute_delta_joint_pos(pose_error, jacobian)
+        return joint_pos + delta_joint_pos
+
+    def _frame_jacobian(self, side: str):
+        jacobian = self._wp.to_torch(self._robot.root_physx_view.get_jacobians())[
+            :, self._jacobi_body_ids[side], :, self._jacobi_joint_ids[side]
+        ].clone()
+        root_quat_w = self._wp.to_torch(self._robot.data.root_quat_w)
+        root_rot_b_w = self._math_utils.matrix_from_quat(
+            self._math_utils.quat_inv(root_quat_w)
+        )
+        jacobian[:, 0:3, :] = self._torch.bmm(root_rot_b_w, jacobian[:, 0:3, :])
+        jacobian[:, 3:, :] = self._torch.bmm(root_rot_b_w, jacobian[:, 3:, :])
+        offset_pos = self._offset_pos[side]
+        offset_rot = self._offset_rot[side]
+        jacobian[:, 0:3, :] += self._torch.bmm(
+            -self._math_utils.skew_symmetric_matrix(offset_pos),
+            jacobian[:, 3:, :],
+        )
+        jacobian[:, 3:, :] = self._torch.bmm(
+            self._math_utils.matrix_from_quat(offset_rot),
+            jacobian[:, 3:, :],
+        )
+        return jacobian
+
+    def _apply_target_pose_root(
+        self,
+        side: str,
+        target_pose_root: tuple[Any, Any],
+    ) -> None:
+        ee_pos_curr, ee_quat_curr = self._frame_pose_root(side)
+        target_pos, target_quat = target_pose_root
+        target_pos, target_quat = self._startup_relative_target(
+            side,
+            target_pos,
+            target_quat,
+            ee_pos_curr,
+            ee_quat_curr,
+        )
+        command = (
+            target_pos
+            if self._config.command_type == "position"
+            else self._torch.cat((target_pos, target_quat), dim=1)
+        )
+        self._controllers[side].set_command(command, ee_pos_curr, ee_quat_curr)
+        self._last_target_poses_root[side] = (
+            self._controllers[side].ee_pos_des.detach().clone(),
+            self._controllers[side].ee_quat_des.detach().clone(),
+        )
+        joint_pos = self._wp.to_torch(self._robot.data.joint_pos)[
+            :, self._joint_ids[side]
+        ]
+        joint_targets = self._compute_joint_targets(
+            side,
+            ee_pos_curr,
+            ee_quat_curr,
+            joint_pos,
+        )
+
+        if self._config.clamp_to_joint_limits:
+            limits = self._wp.to_torch(self._robot.data.soft_joint_pos_limits)[
+                :, self._joint_ids[side], :
+            ]
+            joint_targets = self._torch.clamp(
+                joint_targets, limits[:, :, 0], limits[:, :, 1]
+            )
+
+        previous = self._last_targets.get(side)
+        if previous is not None and self._config.smoothing_alpha < 1.0:
+            alpha = self._config.smoothing_alpha
+            joint_targets = previous * (1.0 - alpha) + joint_targets * alpha
+
+        self._last_targets[side] = joint_targets
+        self._robot.set_joint_position_target_index(
+            target=joint_targets,
+            joint_ids=self._joint_ids[side],
+        )
+
+    def update(self, sample: Mapping[str, Any]) -> None:
+        if not self._config.enabled:
+            return
+
+        for side in ("left", "right"):
+            pose = sample["ee_poses"].get(side)
+            if pose is None:
+                target = self._last_targets.get(side)
+                if target is not None:
+                    self._robot.set_joint_position_target_index(
+                        target=target,
+                        joint_ids=self._joint_ids[side],
+                    )
+                continue
+
+            target_pose = self._target_pose_root(side, pose)
+            if target_pose is None:
+                continue
+            self._apply_target_pose_root(side, target_pose)
+
+    def reset_startup_references(self) -> None:
+        self._startup_target_refs.clear()
+        self._startup_ref_announced.clear()
+        self._last_target_poses_root.clear()
+        print(
+            f"[{self._config.status_label}] arm IK startup target references cleared; "
+            "waiting for re-arm calibration.",
+            flush=True,
+        )
+
+
+class WholeBodyYawController:
+    """Rotate the robot base with the calibrated head yaw around the AVP z-axis."""
+
+    def __init__(
+        self,
+        robot: Any,
+        config: AvpFrameBindingRuntimeConfig,
+        *,
+        device: str,
+    ) -> None:
+        import torch
+        import warp as wp
+
+        self._robot = robot
+        self._config = config
+        self._device = device
+        self._torch = torch
+        self._wp = wp
+        self._joint_id, self._joint_name = self._find_base_yaw_joint()
+        self._joint_limits = self._joint_limits_np()
+        self._reference_target = self._current_joint_pos()
+        self._last_target = self._reference_target
+        print(
+            f"[{self._config.status_label}] whole-body yaw following active: "
+            f"joint={self._joint_name!r}, "
+            f"deadband_rad={self._config.whole_body_yaw_deadband_rad:.3f}, "
+            f"smoothing_alpha={self._config.whole_body_yaw_smoothing_alpha:.2f}.",
+            flush=True,
+        )
+
+    @property
+    def joint_id(self) -> int:
+        return self._joint_id
+
+    def _find_base_yaw_joint(self) -> tuple[int, str]:
+        available = tuple(
+            str(name) for name in (getattr(self._robot.data, "joint_names", ()) or ())
+        )
+        for candidate in ("base_yaw", "base_yaw_joint"):
+            if candidate in available:
+                return available.index(candidate), candidate
+
+        fuzzy = [
+            (index, name)
+            for index, name in enumerate(available)
+            if "base" in name.lower() and "yaw" in name.lower()
+        ]
+        if len(fuzzy) == 1:
+            return fuzzy[0]
+
+        raise RuntimeError(
+            f"Could not resolve the {self._config.status_label} base yaw joint. "
+            f"Candidates={fuzzy[:8]} available_first={list(available[:40])}"
+        )
+
+    def _joint_limits_np(self) -> tuple[float, float] | None:
+        try:
+            limits = self._wp.to_torch(self._robot.data.soft_joint_pos_limits)
+            values = limits[0, self._joint_id].detach().cpu().numpy()
+        except Exception:
+            return None
+        if np.asarray(values).shape != (2,):
+            return None
+        return float(values[0]), float(values[1])
+
+    def _current_joint_pos(self) -> float:
+        joint_pos = self._wp.to_torch(self._robot.data.joint_pos)
+        return float(joint_pos[0, self._joint_id].detach().cpu().item())
+
+    def _apply_target(self, target_value: float) -> None:
+        target_tensor = self._torch.tensor(
+            [[float(target_value)]],
+            dtype=self._torch.float32,
+            device=self._device,
+        )
+        self._robot.set_joint_position_target_index(
+            target=target_tensor,
+            joint_ids=[self._joint_id],
+        )
+
+    def reset_reference(self) -> None:
+        current = self._current_joint_pos()
+        self._reference_target = current
+        self._last_target = current
+        self._apply_target(current)
+
+    def hold_current_target(self) -> None:
+        self._apply_target(self._last_target)
+
+    def current_yaw_delta_rad(self) -> float:
+        return float(self._current_joint_pos() - self._reference_target)
+
+    def update(self, pose_binding: AvpRobotFrameBinding | None) -> None:
+        if pose_binding is None or not pose_binding.whole_body_yaw_following_enabled:
+            return
+
+        target_value = self._reference_target + pose_binding.latest_head_yaw_delta_rad()
+        if self._joint_limits is not None:
+            target_value = float(
+                np.clip(target_value, self._joint_limits[0], self._joint_limits[1])
+            )
+
+        alpha = self._config.whole_body_yaw_smoothing_alpha
+        target_value = self._last_target * (1.0 - alpha) + target_value * alpha
+        self._last_target = float(target_value)
+        self._apply_target(self._last_target)
+
+
+def _find_required_joint_ids(
+    robot: Any,
+    joint_names: Sequence[str],
+    side: str,
+    *,
+    status_label: str,
+) -> list[int]:
+    joint_ids, resolved_names = robot.find_joints(
+        list(joint_names), preserve_order=True
+    )
+    missing = [name for name in joint_names if name not in resolved_names]
+    if missing:
+        available = list(getattr(robot.data, "joint_names", []) or [])
+        raise RuntimeError(
+            f"{status_label} USD is missing {side} hand joints. "
+            f"Missing first entries: {missing[:8]}; available count={len(available)}"
+        )
+    return list(joint_ids)
+
+
+def _configured_initial_positions(
+    joint_names: Sequence[str], config: WujiHandRuntimeConfig
+) -> np.ndarray:
+    return np.asarray(
+        [
+            config.initial_joint_positions.get(name, config.initial_joint_position)
+            for name in joint_names
+        ],
+        dtype=np.float32,
+    )
+
+
+def _default_joint_positions(
+    robot: Any,
+    joint_ids: Sequence[int],
+    joint_names: Sequence[str],
+    config: WujiHandRuntimeConfig,
+) -> np.ndarray:
+    try:
+        import warp as wp
+
+        default_joint_pos = wp.to_torch(robot.data.default_joint_pos)
+        values = default_joint_pos[0, list(joint_ids)].detach().cpu().numpy()
+        return values.astype(np.float32)
+    except Exception:
+        return _configured_initial_positions(joint_names, config)
+
+
+def _soft_joint_limits(robot: Any, joint_ids: Sequence[int]) -> np.ndarray | None:
+    try:
+        import warp as wp
+
+        limits = wp.to_torch(robot.data.soft_joint_pos_limits)
+        values = limits[0, list(joint_ids), :].detach().cpu().numpy()
+        if values.shape != (len(joint_ids), 2):
+            return None
+        return values.astype(np.float32)
+    except Exception:
+        return None
+
+
+def _parse_args(argv: Sequence[str]) -> argparse.Namespace:
+    AppLauncher = _load_isaac_lab()
+    parser = argparse.ArgumentParser(
+        description="Run a minimal G1 Isaac Lab scene driven by AVP + MANUS teleop."
+    )
+    parser.add_argument("--config", default=str(_default_config_path()))
+    parser.add_argument("--robot-usd", default=None)
+    parser.add_argument("--robot-prim", default=None)
+    parser.add_argument("--duration-s", type=float, default=0.0)
+    parser.add_argument("--wrist-marker-scale", type=float, default=1.0)
+    parser.add_argument("--wrist-marker-z-offset", type=float, default=0.0)
+    parser.add_argument("--wrist-marker-radius", type=float, default=0.045)
+    parser.add_argument("--wrist-axis-length", type=float, default=0.18)
+    parser.add_argument("--wrist-axis-radius", type=float, default=0.008)
+    parser.add_argument(
+        "--robot-height",
+        type=float,
+        default=None,
+        help="Optional override for robot.initial_world_position z.",
+    )
+    parser.add_argument("--light-intensity", type=float, default=3000.0)
+    parser.add_argument(
+        "--scene-only",
+        action="store_true",
+        help="Load the minimal scene and robot without starting OpenXR/MANUS teleop.",
+    )
+    AppLauncher.add_app_launcher_args(parser)
+    return parser.parse_args(argv)
+
+
+def main(argv: Sequence[str] | None = None) -> int:
+    ensure_import_paths()
+    args = _parse_args(sys.argv[1:] if argv is None else argv)
+    config_path = Path(args.config).expanduser().resolve()
+    teleop_config = _load_yaml_file(config_path)
+    teleop_config["_config_dir"] = str(config_path.parent)
+    robot_profile = robot_profile_from_config(teleop_config)
+    status_label = robot_profile.status_label
+    use_native_hand_targets = _use_native_hand_targets(teleop_config)
+    head_view_camera_config = _head_view_camera_config(teleop_config)
+    head_view_xr_display_config = _head_view_xr_display_config(teleop_config)
+    auxiliary_viewport_config = _auxiliary_viewport_config(teleop_config)
+    initial_world_position = _robot_initial_world_position(teleop_config)
+    initial_world_orientation_xyzw = _robot_initial_world_orientation_xyzw(
+        teleop_config
+    )
+    wuji_hand_config = wuji_hand_runtime_config(teleop_config)
+    arm_ik_config = _arm_ik_runtime_config(teleop_config)
+    avp_frame_binding_config = avp_frame_binding_runtime_config(teleop_config)
+    arm_ik_config = dataclass_replace(
+        arm_ik_config,
+        marker_scale=(
+            args.wrist_marker_scale
+            if arm_ik_config.marker_scale is None
+            else arm_ik_config.marker_scale
+        ),
+        marker_z_offset=(
+            args.wrist_marker_z_offset
+            if arm_ik_config.marker_z_offset is None
+            else arm_ik_config.marker_z_offset
+        ),
+    )
+    if args.robot_height is not None:
+        initial_world_position = (
+            initial_world_position[0],
+            initial_world_position[1],
+            float(args.robot_height),
+        )
+    robot_usd = (
+        Path(args.robot_usd).expanduser().resolve()
+        if args.robot_usd
+        else resolve_repo_relative_path(robot_profile.default_usd_relpath)
+    )
+    if not robot_usd.is_file():
+        raise FileNotFoundError(f"{status_label} USD not found: {robot_usd}")
+    robot_prim = str(args.robot_prim or robot_profile.robot_prim)
+
+    AppLauncher = _load_isaac_lab()
+    app_launcher = AppLauncher(args)
+    simulation_app = app_launcher.app
+    _ensure_cloudxr_runtime_environment_defaults()
+
+    import carb
+    import omni.usd
+    import torch
+    from isaaclab.markers import VisualizationMarkers, VisualizationMarkersCfg
+    from pxr import Gf, UsdGeom
+
+    import isaaclab.sim as sim_utils
+    from isaaclab.sim import SimulationContext
+
+    _ensure_carb_input_available()
+    omni_appwindow = _import_omni_appwindow()
+    omni_viewport_utility = _import_omni_viewport_utility()
+
+    sim_cfg = sim_utils.SimulationCfg(dt=1.0 / 60.0, device=args.device)
+    sim = SimulationContext(sim_cfg)
+    sim.set_camera_view([3.0, -4.0, 2.0], [0.0, 0.0, 0.9])
+
+    scene_config = G1WujiSceneConfig(
+        robot_prim=robot_prim,
+        robot_usd=robot_usd,
+        initial_world_position=initial_world_position,
+        initial_world_orientation_xyzw=initial_world_orientation_xyzw,
+        initial_hand_joint_positions=wuji_hand_config.initial_joint_positions,
+        light_intensity=args.light_intensity,
+    )
+    robot = design_g1_wuji_scene(scene_config)
+    debug_viz_config = debug_viz_runtime_config(teleop_config)
+    debug_viz = create_debug_viz(
+        sim_utils=sim_utils,
+        VisualizationMarkers=VisualizationMarkers,
+        VisualizationMarkersCfg=VisualizationMarkersCfg,
+        scene_config=DebugVizSceneConfig(
+            wrist_marker_radius=args.wrist_marker_radius,
+            wrist_axis_length=args.wrist_axis_length,
+            wrist_axis_radius=args.wrist_axis_radius,
+            robot_z=float(initial_world_position[2]),
+        ),
+        runtime_config=debug_viz_config,
+    )
+
+    sim.reset()
+    sim_dt = sim.get_physics_dt()
+    left_joint_ids = _find_required_joint_ids(
+        robot,
+        wuji_hand_config.left_joint_names,
+        "left",
+        status_label=status_label,
+    )
+    right_joint_ids = _find_required_joint_ids(
+        robot,
+        wuji_hand_config.right_joint_names,
+        "right",
+        status_label=status_label,
+    )
+    left_initial_targets = _default_joint_positions(
+        robot, left_joint_ids, wuji_hand_config.left_joint_names, wuji_hand_config
+    )
+    right_initial_targets = _default_joint_positions(
+        robot, right_joint_ids, wuji_hand_config.right_joint_names, wuji_hand_config
+    )
+    left_postprocessor = HandTargetPostProcessor(
+        joint_names=wuji_hand_config.left_joint_names,
+        initial_targets=left_initial_targets,
+        joint_limits=_soft_joint_limits(robot, left_joint_ids),
+        config=wuji_hand_config,
+        side="left",
+    )
+    right_postprocessor = HandTargetPostProcessor(
+        joint_names=wuji_hand_config.right_joint_names,
+        initial_targets=right_initial_targets,
+        joint_limits=_soft_joint_limits(robot, right_joint_ids),
+        config=wuji_hand_config,
+        side="right",
+    )
+    wuji_backend = (
+        None if use_native_hand_targets else WujiHandTargetBackend(wuji_hand_config)
+    )
+    avp_frame_binding = (
+        AvpRobotFrameBinding(
+            robot,
+            arm_ik_config,
+            avp_frame_binding_config,
+            marker_scale=1.0
+            if arm_ik_config.marker_scale is None
+            else arm_ik_config.marker_scale,
+            marker_z_offset=0.0
+            if arm_ik_config.marker_z_offset is None
+            else arm_ik_config.marker_z_offset,
+        )
+        if avp_frame_binding_config.enabled
+        else None
+    )
+    whole_body_yaw = (
+        WholeBodyYawController(
+            robot,
+            avp_frame_binding_config,
+            device=sim.device,
+        )
+        if avp_frame_binding_config.enabled
+        and avp_frame_binding_config.whole_body_yaw_following
+        else None
+    )
+    arm_ik = (
+        DualArmIkController(
+            robot,
+            arm_ik_config,
+            device=sim.device,
+            pose_binding=avp_frame_binding,
+        )
+        if arm_ik_config.enabled
+        else None
+    )
+    stage = omni.usd.get_context().get_stage()
+    robot_root_prim = stage.GetPrimAtPath(robot_prim) if stage is not None else None
+    _disable_robot_transmissive_materials(
+        stage=stage,
+        robot_root_prim=robot_root_prim,
+        status_label=status_label,
+    )
+    head_link_prim = (
+        find_head_like_prim(stage, robot_root_prim, robot_prim)
+        if robot_root_prim is not None and robot_root_prim.IsValid()
+        else None
+    )
+    if head_link_prim is None:
+        head_candidates = []
+        if robot_root_prim is not None and robot_root_prim.IsValid():
+            head_candidates = [
+                str(prim.GetPath())
+                for prim in walk_child_prims(robot_root_prim)
+                if "head" in prim.GetName().lower()
+            ][:8]
+        print(
+            f"[{status_label}] warning: could not find a head-like prim under {robot_prim}; "
+            f"candidates={head_candidates}.",
+            flush=True,
+        )
+    else:
+        print(
+            f"[{status_label}] head point visualization uses prim {head_link_prim.GetPath()}",
+            flush=True,
+        )
+    xform_cache = UsdGeom.XformCache()
+    viewport_api = omni_viewport_utility.get_active_viewport()
+    default_viewport_camera_path = (
+        str(viewport_api.camera_path)
+        if viewport_api is not None
+        and getattr(viewport_api, "camera_path", None) is not None
+        else None
+    )
+    auxiliary_viewport = AuxiliaryViewportController(
+        config=auxiliary_viewport_config,
+        viewport_utility=omni_viewport_utility,
+        initial_camera_path=default_viewport_camera_path,
+    )
+    head_view_camera = (
+        HeadViewCameraController(
+            stage=stage,
+            UsdGeom=UsdGeom,
+            Gf=Gf,
+            viewport_api=viewport_api,
+            config=head_view_camera_config,
+            head_link_prim=head_link_prim,
+            avp_frame_binding=avp_frame_binding,
+            whole_body_yaw=whole_body_yaw,
+        )
+        if head_view_camera_config.enabled and stage is not None
+        else None
+    )
+    teleop: TeleopMain | None = None
+    teleop_started = False
+    head_view_xr_display: HeadViewXrDisplayBridge | None = None
+    scene_warmed_up = False
+    xr_waiting_announced = False
+    next_xr_retry_time = 0.0
+    if head_view_xr_display_config.enabled and not args.scene_only:
+        if head_view_camera is None:
+            raise ValueError(
+                "robot.head_view_xr_display.enabled requires robot.head_view_camera.enabled "
+                "so there is a camera prim to publish into AVP."
+            )
+    import warp as wp
+
+    robot_default_joint_pos = wp.to_torch(robot.data.default_joint_pos).clone()
+    robot_default_joint_vel = wp.to_torch(robot.data.default_joint_vel).clone()
+    robot.set_joint_position_target_index(
+        target=torch.as_tensor(left_initial_targets, device=sim.device).unsqueeze(0),
+        joint_ids=left_joint_ids,
+    )
+    robot.set_joint_position_target_index(
+        target=torch.as_tensor(right_initial_targets, device=sim.device).unsqueeze(0),
+        joint_ids=right_joint_ids,
+    )
+
+    print(
+        f"{status_label} teleop scene ready: "
+        f"{len(left_joint_ids)} left hand joints, {len(right_joint_ids)} right hand joints, "
+        f"hand_retarget={'native_dex' if use_native_hand_targets else wuji_hand_config.retarget_backend}, "
+        f"arm_ik={arm_ik_config.enabled}, "
+        f"avp_frame_binding={avp_frame_binding_config.enabled}, "
+        f"whole_body_yaw={whole_body_yaw is not None}, "
+        f"head_view_camera={head_view_camera is not None}, "
+        f"head_view_xr_display={head_view_xr_display_config.enabled and not args.scene_only}, "
+        f"auxiliary_viewport={auxiliary_viewport_config.enabled and not args.scene_only}."
+    )
+
+    def step_scene_once(
+        *,
+        target_poses: Mapping[str, tuple[np.ndarray, np.ndarray]] | None = None,
+        update_ee_frames: bool = False,
+    ) -> None:
+        if target_poses is not None:
+            update_wrist_markers(
+                debug_viz.wrist_markers,
+                debug_viz.wrist_frames,
+                target_poses,
+                args.wrist_axis_length,
+            )
+        robot.write_data_to_sim()
+        sim.step(render=sim.is_rendering)
+        robot.update(sim_dt)
+        if head_view_camera is not None:
+            head_view_camera.update(xform_cache=xform_cache)
+        if head_view_xr_display is not None:
+            head_view_xr_display.submit_frame()
+        update_head_marker(
+            debug_viz,
+            head_link_prim=head_link_prim,
+            xform_cache=xform_cache,
+        )
+        if update_ee_frames and arm_ik is not None:
+            ee_frame_poses = arm_ik.frame_pose_world_np()
+            update_frame_axis_markers(
+                debug_viz.robot_ee_frames,
+                ee_frame_poses,
+                args.wrist_axis_length,
+            )
+
+    if args.scene_only:
+        print("Scene-only mode: OpenXR/MANUS teleop is not started.")
+        start_time = time.monotonic()
+        try:
+            while simulation_app.is_running():
+                if (
+                    args.duration_s > 0.0
+                    and time.monotonic() - start_time >= args.duration_s
+                ):
+                    break
+                step_scene_once()
+        finally:
+            simulation_app.close()
+        return 0
+
+    if debug_viz_config.enabled:
+        print(
+            "Debug visualization is enabled and controlled by robot.debug_visualization."
+        )
+
+    marker_target_poses: dict[str, tuple[np.ndarray, np.ndarray]] = {}
+    teleop_armed = False
+    start_waiting_announced = False
+    keyboard_start_requested = False
+    keyboard_reset_requested = False
+
+    app_window = omni_appwindow.get_default_app_window()
+    input_interface = carb.input.acquire_input_interface()
+
+    def on_keyboard_event(event, *args, **kwargs):
+        nonlocal keyboard_reset_requested, keyboard_start_requested
+        if event.type == carb.input.KeyboardEventType.KEY_PRESS:
+            if event.input == carb.input.KeyboardInput.B:
+                keyboard_start_requested = True
+            elif event.input == carb.input.KeyboardInput.R:
+                keyboard_reset_requested = True
+        return True
+
+    keyboard_subscription = (
+        input_interface.subscribe_to_keyboard_events(
+            app_window.get_keyboard(),
+            on_keyboard_event,
+        )
+        if app_window is not None and app_window.get_keyboard() is not None
+        else None
+    )
+
+    def hold_robot_targets() -> None:
+        robot.set_joint_position_target_index(
+            target=torch.as_tensor(left_initial_targets, device=sim.device).unsqueeze(
+                0
+            ),
+            joint_ids=left_joint_ids,
+        )
+        robot.set_joint_position_target_index(
+            target=torch.as_tensor(right_initial_targets, device=sim.device).unsqueeze(
+                0
+            ),
+            joint_ids=right_joint_ids,
+        )
+        if whole_body_yaw is not None:
+            whole_body_yaw.hold_current_target()
+
+    def restore_robot_initial_pose() -> None:
+        if hasattr(robot, "write_joint_state_to_sim"):
+            robot.write_joint_state_to_sim(
+                robot_default_joint_pos,
+                robot_default_joint_vel,
+            )
+        robot.set_joint_position_target_index(
+            target=robot_default_joint_pos,
+        )
+        if whole_body_yaw is not None:
+            whole_body_yaw.reset_reference()
+        if arm_ik is not None:
+            arm_ik._last_targets.clear()
+
+    def reset_teleop_calibration() -> None:
+        if avp_frame_binding is not None:
+            avp_frame_binding.reset_calibration()
+        if whole_body_yaw is not None:
+            whole_body_yaw.reset_reference()
+        if arm_ik is not None:
+            arm_ik.reset_startup_references()
+        if head_view_camera is not None:
+            head_view_camera.deactivate()
+            if viewport_api is not None and default_viewport_camera_path:
+                viewport_api.camera_path = default_viewport_camera_path
+        if auxiliary_viewport_config.activate_on_calibration:
+            auxiliary_viewport.hide()
+        if (
+            head_view_xr_display is not None
+            and head_view_xr_display_config.activate_on_calibration
+        ):
+            head_view_xr_display.set_visible(False)
+
+    def marker_pose_resolver(
+        side: str,
+        pose: Mapping[str, Any],
+    ) -> tuple[np.ndarray, np.ndarray] | None:
+        target_pose = marker_target_poses.get(side)
+        if target_pose is not None:
+            return target_pose
+        return resolve_avp_marker_pose(
+            side,
+            pose,
+            marker_scale=args.wrist_marker_scale,
+            marker_z_offset=args.wrist_marker_z_offset,
+            pose_binding=avp_frame_binding,
+        )
+
+    def close_openxr_runtime() -> None:
+        nonlocal teleop, teleop_started, head_view_xr_display
+        if teleop_started and teleop is not None:
+            try:
+                teleop.__exit__(None, None, None)
+            except Exception:
+                pass
+        teleop = None
+        teleop_started = False
+        if head_view_xr_display is not None:
+            try:
+                head_view_xr_display.close()
+            except Exception:
+                pass
+            head_view_xr_display = None
+        auxiliary_viewport.close()
+
+    def enter_xr_waiting_state(exc: BaseException, *, phase: str) -> None:
+        nonlocal teleop_armed, start_waiting_announced, marker_target_poses
+        nonlocal xr_waiting_announced, next_xr_retry_time
+        close_openxr_runtime()
+        teleop_armed = False
+        start_waiting_announced = False
+        marker_target_poses = {}
+        restore_robot_initial_pose()
+        reset_teleop_calibration()
+        next_xr_retry_time = time.monotonic() + _XR_RETRY_INTERVAL_S
+        if not xr_waiting_announced:
+            print(
+                f"[{status_label}] OpenXR {phase} is not ready: "
+                f"{_format_exception_chain(exc)}. "
+                "The scene will keep running while waiting for the HMD/runtime. "
+                "Connect the headset or start the XR runtime, then wait for the "
+                "automatic retry or press keyboard B to retry immediately.",
+                flush=True,
+            )
+            xr_waiting_announced = True
+
+    def try_start_openxr_runtime() -> bool:
+        nonlocal teleop, teleop_started, head_view_xr_display
+        nonlocal xr_waiting_announced, next_xr_retry_time
+        was_waiting = xr_waiting_announced
+        candidate_teleop = TeleopMain.from_config_file(config_path)
+        candidate_head_view_xr_display: HeadViewXrDisplayBridge | None = None
+        try:
+            if head_view_xr_display_config.enabled:
+                head_view_preflight_error = _head_view_xr_display_preflight_error(
+                    head_view_camera.camera_path
+                )
+                if head_view_preflight_error is not None:
+                    print(
+                        f"[{status_label}] warning: disabling AVP head-view XR display "
+                        "for this session because direct camera rendering is unavailable "
+                        f"({head_view_preflight_error}).",
+                        flush=True,
+                    )
+                else:
+                    try:
+                        candidate_head_view_xr_display = HeadViewXrDisplayBridge(
+                            config=head_view_xr_display_config,
+                            camera_prim_path=head_view_camera.camera_path,
+                            required_xr_extensions=candidate_teleop.required_xr_extensions,
+                            sim_device=str(args.device),
+                        )
+                        candidate_teleop.set_oxr_handles(
+                            candidate_head_view_xr_display.oxr_handles
+                        )
+                        if (
+                            not head_view_xr_display_config.activate_on_calibration
+                            or not avp_frame_binding_config.enabled
+                        ):
+                            candidate_head_view_xr_display.set_visible(True)
+                    except Exception as exc:
+                        if candidate_head_view_xr_display is not None:
+                            try:
+                                candidate_head_view_xr_display.close()
+                            except Exception:
+                                pass
+                            candidate_head_view_xr_display = None
+                        if _is_xr_runtime_unavailable_error(exc):
+                            raise
+                        candidate_teleop.set_oxr_handles(None)
+                        print(
+                            f"[{status_label}] warning: disabling AVP head-view XR display "
+                            f"for this session because startup failed "
+                            f"({_format_exception_chain(exc)}).",
+                            flush=True,
+                        )
+            candidate_teleop.__enter__()
+        except Exception as exc:
+            try:
+                candidate_teleop.__exit__(None, None, None)
+            except Exception:
+                pass
+            if candidate_head_view_xr_display is not None:
+                try:
+                    candidate_head_view_xr_display.close()
+                except Exception:
+                    pass
+            if _is_xr_runtime_unavailable_error(exc):
+                enter_xr_waiting_state(exc, phase="startup")
+                return False
+            raise
+
+        teleop = candidate_teleop
+        teleop_started = True
+        head_view_xr_display = candidate_head_view_xr_display
+        next_xr_retry_time = 0.0
+        xr_waiting_announced = False
+        if head_view_xr_display is not None:
+            print(
+                f"[{status_label}] AVP head-view XR display enabled: "
+                f"resolution={head_view_xr_display_config.resolution_px[0]}x"
+                f"{head_view_xr_display_config.resolution_px[1]}, "
+                f"lock_mode={head_view_xr_display_config.lock_mode}, "
+                f"activate_on_calibration={head_view_xr_display_config.activate_on_calibration}.",
+                flush=True,
+            )
+        print(
+            f"[{status_label}] OpenXR teleop session started"
+            f"{' after HMD/runtime reconnect' if was_waiting else ''}.",
+            flush=True,
+        )
+        return True
+
+    start_time = time.monotonic()
+    try:
+        if not simulation_app.is_running():
+            has_keyboard = bool(
+                app_window is not None and app_window.get_keyboard() is not None
+            )
+            print(
+                f"[{status_label}] simulation app is not running at teleop loop start; "
+                "exiting before the first teleop frame. "
+                f"headless={getattr(args, 'headless', None)} "
+                f"app_window={app_window is not None} "
+                f"keyboard={has_keyboard}",
+                flush=True,
+            )
+        while simulation_app.is_running():
+            if (
+                args.duration_s > 0.0
+                and time.monotonic() - start_time >= args.duration_s
+            ):
+                break
+
+            start_button_rising = keyboard_start_requested
+            keyboard_start_requested = False
+            reset_button_rising = keyboard_reset_requested
+            keyboard_reset_requested = False
+
+            if reset_button_rising:
+                teleop_armed = False
+                start_waiting_announced = False
+                marker_target_poses = {}
+                restore_robot_initial_pose()
+                reset_teleop_calibration()
+                print(
+                    f"[{status_label}] teleop reset; robot returned to its initial joint pose. "
+                    "Press keyboard B to recalibrate and start again.",
+                    flush=True,
+                )
+
+            if not scene_warmed_up:
+                hold_robot_targets()
+                step_scene_once()
+                scene_warmed_up = True
+                continue
+
+            if teleop is None:
+                should_retry = (
+                    start_button_rising or time.monotonic() >= next_xr_retry_time
+                )
+                if should_retry:
+                    try_start_openxr_runtime()
+                if teleop is None:
+                    hold_robot_targets()
+                    step_scene_once()
+                    continue
+
+            try:
+                sample = teleop.step()
+                if not teleop_armed:
+                    if not start_waiting_announced:
+                        print(
+                            f"[{status_label}] teleop is disarmed; press keyboard B to recalibrate "
+                            "and start teleop. Press keyboard R to force reset back to this state.",
+                            flush=True,
+                        )
+                        start_waiting_announced = True
+                    if start_button_rising:
+                        teleop_armed = True
+                        start_waiting_announced = False
+                        reset_teleop_calibration()
+                        print(
+                            f"[{status_label}] teleop armed at frame={int(sample.get('frame_count', 0))}; "
+                            "starting fresh AVP head-hand calibration "
+                            f"(averaging {avp_frame_binding_config.calibration_window_s:.1f}s).",
+                            flush=True,
+                        )
+                    else:
+                        marker_target_poses = {}
+                        hold_robot_targets()
+                        step_scene_once(
+                            target_poses=sample_target_poses(
+                                sample,
+                                resolve_marker_pose=marker_pose_resolver,
+                            ),
+                            update_ee_frames=arm_ik is not None,
+                        )
+                        continue
+
+                if use_native_hand_targets:
+                    raw_left_targets = ordered_hand_targets(
+                        sample,
+                        "left",
+                        wuji_hand_config.left_joint_names,
+                    )
+                    raw_right_targets = ordered_hand_targets(
+                        sample,
+                        "right",
+                        wuji_hand_config.right_joint_names,
+                    )
+                else:
+                    raw_left_targets, raw_right_targets = wuji_backend.targets(sample)
+
+                left_targets = left_postprocessor.process(raw_left_targets)
+                right_targets = right_postprocessor.process(raw_right_targets)
+
+                if left_targets is not None:
+                    robot.set_joint_position_target_index(
+                        target=torch.as_tensor(
+                            left_targets, device=sim.device
+                        ).unsqueeze(0),
+                        joint_ids=left_joint_ids,
+                    )
+                if right_targets is not None:
+                    robot.set_joint_position_target_index(
+                        target=torch.as_tensor(
+                            right_targets, device=sim.device
+                        ).unsqueeze(0),
+                        joint_ids=right_joint_ids,
+                    )
+                if avp_frame_binding is not None:
+                    avp_frame_binding.update_calibration(sample)
+                    avp_frame_binding.update_runtime_state(sample)
+                    if (
+                        head_view_camera is not None
+                        and head_view_camera_config.activate_on_calibration
+                        and avp_frame_binding.calibrated
+                    ):
+                        head_view_camera.activate()
+                    if (
+                        auxiliary_viewport_config.enabled
+                        and auxiliary_viewport_config.activate_on_calibration
+                        and avp_frame_binding.calibrated
+                    ):
+                        auxiliary_viewport.show()
+                    if (
+                        head_view_xr_display is not None
+                        and head_view_xr_display_config.activate_on_calibration
+                        and avp_frame_binding.calibrated
+                    ):
+                        head_view_xr_display.set_visible(True)
+                if whole_body_yaw is not None:
+                    whole_body_yaw.update(avp_frame_binding)
+                if arm_ik is not None:
+                    arm_ik.update(sample)
+                    marker_target_poses = arm_ik.target_pose_world_np()
+                else:
+                    marker_target_poses = {}
+
+                step_scene_once(
+                    target_poses=sample_target_poses(
+                        sample,
+                        resolve_marker_pose=marker_pose_resolver,
+                    ),
+                    update_ee_frames=arm_ik is not None,
+                )
+            except Exception as exc:
+                if not _is_xr_runtime_unavailable_error(exc):
+                    raise
+                enter_xr_waiting_state(exc, phase="runtime")
+    except Exception as exc:
+        print(
+            f"[{status_label}] fatal runtime error: {type(exc).__name__}: {exc}",
+            file=sys.stderr,
+            flush=True,
+        )
+        traceback.print_exc()
+        raise
+    finally:
+        try:
+            if keyboard_subscription is not None:
+                unsubscribe_fn = getattr(
+                    input_interface, "unsubscribe_from_keyboard_events", None
+                )
+                if callable(unsubscribe_fn) and app_window is not None:
+                    unsubscribe_fn(
+                        app_window.get_keyboard(),
+                        keyboard_subscription,
+                    )
+            close_openxr_runtime()
+        finally:
+            simulation_app.close()
+
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/examples/g1_wuji_teleop/python/g1_wuji_teleop/viz/teleop_visualizer.py b/examples/g1_wuji_teleop/python/g1_wuji_teleop/viz/teleop_visualizer.py
new file mode 100644
index 000000000..02aac5617
--- /dev/null
+++ b/examples/g1_wuji_teleop/python/g1_wuji_teleop/viz/teleop_visualizer.py
@@ -0,0 +1,974 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Live 3D visualizer for the G1-Wuji AVP + MANUS teleop stream.
+
+Run from a shell that has sourced the CloudXR environment, for example:
+
+    source ~/.cloudxr/run/cloudxr.env
+    python examples/g1_wuji_teleop/scripts/g1_wuji_teleop_visualizer.py
+"""
+
+from __future__ import annotations
+
+import argparse
+import os
+import sys
+import time
+from collections import deque
+from collections.abc import Mapping, Sequence
+from dataclasses import dataclass
+from pathlib import Path
+from typing import Any
+
+os.environ.setdefault("MPLCONFIGDIR", "/tmp/matplotlib")
+
+import matplotlib
+
+if not os.environ.get("MPLBACKEND"):
+    matplotlib.use("TkAgg")
+
+import matplotlib.pyplot as plt
+import numpy as np
+from matplotlib.animation import FuncAnimation
+from mpl_toolkits.mplot3d import Axes3D  # noqa: F401
+
+from ..devices.avp_manus_stream import TeleopMain
+from ..paths import (
+    default_config_path as app_default_config_path,
+    ensure_import_paths,
+)
+
+
+SIDE_COLORS = {
+    "left": "dodgerblue",
+    "right": "tomato",
+}
+
+HEAD_COLOR = "black"
+HEAD_AXIS_LENGTH = 0.1
+HEAD_FORWARD_AXIS_ISAAC = np.asarray([0.0, 1.0, 0.0], dtype=np.float64)
+OPENXR_TO_ISAAC_FRAME = np.asarray(
+    [
+        [1.0, 0.0, 0.0],
+        [0.0, 0.0, -1.0],
+        [0.0, 1.0, 0.0],
+    ],
+    dtype=np.float64,
+)
+
+VIEW_PRESETS = (
+    ("forward +X", 0.0, 180.0),
+    ("iso", 24.0, -58.0),
+    ("left +Y", 0.0, -90.0),
+    ("right -Y", 0.0, 90.0),
+    ("top", 90.0, -90.0),
+    ("back -X", 0.0, 0.0),
+)
+
+DISPLAY_FRAME = np.eye(3, dtype=np.float64)
+
+
+@dataclass(frozen=True)
+class VisualFrameState:
+    origin_pos: np.ndarray
+    frame_rot: np.ndarray
+
+
+OPENXR_HAND_BONES = (
+    ("wrist", "palm"),
+    ("wrist", "thumb_metacarpal"),
+    ("thumb_metacarpal", "thumb_proximal"),
+    ("thumb_proximal", "thumb_distal"),
+    ("thumb_distal", "thumb_tip"),
+    ("wrist", "index_metacarpal"),
+    ("index_metacarpal", "index_proximal"),
+    ("index_proximal", "index_intermediate"),
+    ("index_intermediate", "index_distal"),
+    ("index_distal", "index_tip"),
+    ("wrist", "middle_metacarpal"),
+    ("middle_metacarpal", "middle_proximal"),
+    ("middle_proximal", "middle_intermediate"),
+    ("middle_intermediate", "middle_distal"),
+    ("middle_distal", "middle_tip"),
+    ("wrist", "ring_metacarpal"),
+    ("ring_metacarpal", "ring_proximal"),
+    ("ring_proximal", "ring_intermediate"),
+    ("ring_intermediate", "ring_distal"),
+    ("ring_distal", "ring_tip"),
+    ("wrist", "little_metacarpal"),
+    ("little_metacarpal", "little_proximal"),
+    ("little_proximal", "little_intermediate"),
+    ("little_intermediate", "little_distal"),
+    ("little_distal", "little_tip"),
+)
+
+ROBOT_FINGER_KEYS = {
+    "index": ("index_proximal", "index_distal"),
+    "middle": ("middle_proximal", "middle_distal"),
+    "ring": ("ring_proximal", "ring_distal"),
+    "pinky": ("pinky_proximal", "pinky_distal"),
+    "thumb": ("thumb_proximal_yaw", "thumb_proximal_pitch"),
+}
+
+
+def default_config_path() -> Path:
+    return app_default_config_path()
+
+
+def require_cloudxr_environment() -> None:
+    if os.environ.get("ISAAC_TELEOP_DISABLE_CXR_ENV_CHECKS"):
+        return
+
+    missing = [
+        name
+        for name in ("NV_CXR_RUNTIME_DIR", "XR_RUNTIME_JSON")
+        if not os.environ.get(name)
+    ]
+    if not missing:
+        return
+
+    env_path = Path.home() / ".cloudxr" / "run" / "cloudxr.env"
+    hint = (
+        "CloudXR/OpenXR environment is not loaded. Run this in the same shell "
+        "before starting the visualizer:\n\n"
+        f"  source {env_path}\n"
+        "  python examples/g1_wuji_teleop/scripts/g1_wuji_teleop_visualizer.py "
+        "--config examples/g1_wuji_teleop/config/avp_manus.yml\n"
+    )
+    if not env_path.exists():
+        hint += "\nIf that file is missing, start CloudXR first:\n\n"
+        hint += "  python -m isaacteleop.cloudxr\n"
+    raise RuntimeError(f"Missing environment variables: {', '.join(missing)}\n{hint}")
+
+
+def quat_xyzw_to_rotmat(quat_xyzw: Sequence[float]) -> np.ndarray:
+    qx, qy, qz, qw = [float(v) for v in quat_xyzw]
+    norm = np.linalg.norm([qx, qy, qz, qw])
+    if norm <= 1e-8:
+        return np.eye(3, dtype=np.float64)
+    qx, qy, qz, qw = [value / norm for value in (qx, qy, qz, qw)]
+    return np.asarray(
+        [
+            [
+                1.0 - 2.0 * (qy * qy + qz * qz),
+                2.0 * (qx * qy - qw * qz),
+                2.0 * (qx * qz + qw * qy),
+            ],
+            [
+                2.0 * (qx * qy + qw * qz),
+                1.0 - 2.0 * (qx * qx + qz * qz),
+                2.0 * (qy * qz - qw * qx),
+            ],
+            [
+                2.0 * (qx * qz - qw * qy),
+                2.0 * (qy * qz + qw * qx),
+                1.0 - 2.0 * (qx * qx + qy * qy),
+            ],
+        ],
+        dtype=np.float64,
+    )
+
+
+def pose_to_matrix(pose: Mapping[str, Any]) -> np.ndarray:
+    mat = np.eye(4, dtype=np.float64)
+    mat[:3, :3] = quat_xyzw_to_rotmat(pose["orientation_xyzw"])
+    mat[:3, 3] = np.asarray(pose["position"], dtype=np.float64)
+    return mat
+
+
+def openxr_pose_to_isaac_matrix(pose: Mapping[str, Any]) -> np.ndarray:
+    raw = pose_to_matrix(pose)
+    mat = np.eye(4, dtype=np.float64)
+    mat[:3, :3] = OPENXR_TO_ISAAC_FRAME @ raw[:3, :3] @ OPENXR_TO_ISAAC_FRAME.T
+    mat[:3, 3] = OPENXR_TO_ISAAC_FRAME @ raw[:3, 3]
+    return mat
+
+
+def visual_frame_state_from_sample(
+    sample: Mapping[str, Any],
+) -> VisualFrameState | None:
+    head_pose = sample.get("head_pose")
+    ee_poses = sample.get("ee_poses", {})
+    left_pose = ee_poses.get("left") if isinstance(ee_poses, Mapping) else None
+    right_pose = ee_poses.get("right") if isinstance(ee_poses, Mapping) else None
+    if head_pose is None or left_pose is None or right_pose is None:
+        return None
+
+    head_mat = openxr_pose_to_isaac_matrix(head_pose)
+    left_mat = openxr_pose_to_isaac_matrix(left_pose)
+    right_mat = openxr_pose_to_isaac_matrix(right_pose)
+
+    x_axis = normalize_vector(head_mat[:3, :3] @ HEAD_FORWARD_AXIS_ISAAC)
+    y_axis_raw = normalize_vector(left_mat[:3, 3] - right_mat[:3, 3])
+    if x_axis is None:
+        return None
+
+    if y_axis_raw is None:
+        y_axis = fallback_lateral_axis(x_axis)
+    else:
+        z_axis = normalize_vector(np.cross(x_axis, y_axis_raw))
+        if z_axis is None:
+            y_axis = fallback_lateral_axis(x_axis)
+        else:
+            y_axis = normalize_vector(np.cross(z_axis, x_axis))
+    if y_axis is None:
+        return None
+
+    z_axis = normalize_vector(np.cross(x_axis, y_axis))
+    if z_axis is None:
+        return None
+    frame_rot = np.column_stack((x_axis, y_axis, z_axis))
+    if np.linalg.det(frame_rot) < 0.0:
+        frame_rot[:, 2] *= -1.0
+    return VisualFrameState(
+        origin_pos=head_mat[:3, 3].copy(),
+        frame_rot=frame_rot,
+    )
+
+
+def fallback_lateral_axis(x_axis: np.ndarray) -> np.ndarray | None:
+    # Early tracker frames can report coincident wrists; do not block visualizer startup.
+    up_hint = np.asarray([0.0, 0.0, 1.0], dtype=np.float64)
+    if abs(float(np.dot(x_axis, up_hint))) > 0.95:
+        up_hint = np.asarray([0.0, 1.0, 0.0], dtype=np.float64)
+    return normalize_vector(np.cross(up_hint, x_axis))
+
+
+def pose_to_visual_frame_matrix(
+    pose: Mapping[str, Any],
+    state: VisualFrameState,
+) -> np.ndarray:
+    raw_mat = openxr_pose_to_isaac_matrix(pose)
+    mat = np.eye(4, dtype=np.float64)
+    mat[:3, :3] = state.frame_rot.T @ raw_mat[:3, :3]
+    mat[:3, 3] = state.frame_rot.T @ (raw_mat[:3, 3] - state.origin_pos)
+    return mat
+
+
+def skeleton_to_visual_frame(
+    skeleton: Mapping[str, Any] | None,
+    state: VisualFrameState,
+) -> dict[str, Any] | None:
+    if skeleton is None:
+        return None
+    positions = np.asarray(skeleton.get("positions", []), dtype=np.float64)
+    if positions.ndim != 2 or positions.shape[1] != 3:
+        return None
+
+    positions_isaac = positions @ OPENXR_TO_ISAAC_FRAME.T
+    local_positions = (positions_isaac - state.origin_pos) @ state.frame_rot
+    transformed = dict(skeleton)
+    transformed["positions"] = [
+        [float(coord) for coord in position] for position in local_positions
+    ]
+    return transformed
+
+
+def transform_points(points: np.ndarray, display_frame: np.ndarray) -> np.ndarray:
+    return np.asarray(points, dtype=np.float64) @ display_frame.T
+
+
+def transform_vector(vector: np.ndarray, display_frame: np.ndarray) -> np.ndarray:
+    return display_frame @ np.asarray(vector, dtype=np.float64)
+
+
+def transform_rotation(rot: np.ndarray, display_frame: np.ndarray) -> np.ndarray:
+    return display_frame @ np.asarray(rot, dtype=np.float64)
+
+
+def transform_pose_matrix(mat: np.ndarray, display_frame: np.ndarray) -> np.ndarray:
+    transformed = np.eye(4, dtype=np.float64)
+    transformed[:3, :3] = transform_rotation(mat[:3, :3], display_frame)
+    transformed[:3, 3] = transform_vector(mat[:3, 3], display_frame)
+    return transformed
+
+
+def draw_pose_axes(
+    ax,
+    position: np.ndarray,
+    rot: np.ndarray,
+    *,
+    length: float,
+    alpha: float = 0.9,
+) -> None:
+    axis_colors = ("red", "green", "blue")
+    for axis_index, color in enumerate(axis_colors):
+        direction = rot[:, axis_index] * length
+        ax.quiver(
+            position[0],
+            position[1],
+            position[2],
+            direction[0],
+            direction[1],
+            direction[2],
+            color=color,
+            arrow_length_ratio=0.25,
+            linewidth=2.0,
+            alpha=alpha,
+        )
+
+
+def draw_world_axes(
+    ax,
+    *,
+    display_frame: np.ndarray,
+    length: float,
+    label: str,
+) -> None:
+    origin = np.zeros(3, dtype=np.float64)
+    draw_pose_axes(
+        ax,
+        origin,
+        transform_rotation(np.eye(3), display_frame),
+        length=length,
+        alpha=0.75,
+    )
+    ax.scatter(
+        0.0,
+        0.0,
+        0.0,
+        color="black",
+        marker="+",
+        s=90,
+        alpha=0.65,
+        label=label,
+    )
+    labels = (
+        ("+X forward", np.asarray([length, 0.0, 0.0]), "red"),
+        ("+Y left", np.asarray([0.0, length, 0.0]), "green"),
+        ("+Z up", np.asarray([0.0, 0.0, length]), "blue"),
+    )
+    for text, point, color in labels:
+        drawn = transform_vector(point, display_frame)
+        ax.text(drawn[0], drawn[1], drawn[2], text, color=color, fontsize=9)
+
+
+def draw_fixed_head_pose(
+    ax,
+    *,
+    display_frame: np.ndarray,
+) -> np.ndarray:
+    # Keep this always-on so visualizer startup matches the teleop debug path.
+    head_mat = transform_pose_matrix(np.eye(4, dtype=np.float64), display_frame)
+    position = head_mat[:3, 3]
+    rot = head_mat[:3, :3]
+    ax.scatter(
+        position[0],
+        position[1],
+        position[2],
+        color=HEAD_COLOR,
+        edgecolors="white",
+        linewidths=0.8,
+        marker="s",
+        s=160,
+        label="head fixed",
+        zorder=11,
+    )
+    ax.text(
+        position[0],
+        position[1],
+        position[2],
+        "head",
+        color=HEAD_COLOR,
+        fontsize=9,
+    )
+    draw_pose_axes(
+        ax,
+        position,
+        rot,
+        length=HEAD_AXIS_LENGTH,
+        alpha=0.95,
+    )
+    return position
+
+
+def normalize_vector(vector: np.ndarray) -> np.ndarray | None:
+    norm = float(np.linalg.norm(vector))
+    if norm <= 1e-6:
+        return None
+    return vector / norm
+
+
+def geometric_hand_frame(
+    skeleton: Mapping[str, Any] | None,
+    *,
+    side: str,
+) -> np.ndarray | None:
+    if skeleton is None:
+        return None
+
+    joint_names = [str(name) for name in skeleton.get("joint_names", [])]
+    positions = np.asarray(skeleton.get("positions", []), dtype=np.float64)
+    valid = np.asarray(skeleton.get("valid", []), dtype=bool)
+    if positions.ndim != 2 or positions.shape[1] != 3:
+        return None
+    if valid.ndim != 1 or positions.shape[0] != valid.shape[0]:
+        return None
+
+    name_to_index = {name: index for index, name in enumerate(joint_names)}
+
+    def joint(name: str) -> np.ndarray | None:
+        index = name_to_index.get(name)
+        if index is None or not valid[index]:
+            return None
+        return positions[index]
+
+    def first_valid(*names: str) -> np.ndarray | None:
+        for name in names:
+            point = joint(name)
+            if point is not None:
+                return point
+        return None
+
+    wrist = joint("wrist")
+    palm = joint("palm")
+    index = first_valid("index_metacarpal", "index_proximal")
+    middle = first_valid("middle_metacarpal", "middle_proximal")
+    little = first_valid("little_metacarpal", "little_proximal")
+    if wrist is None or middle is None:
+        return None
+
+    forward_target = palm if palm is not None else middle
+    forward = normalize_vector(forward_target - wrist)
+    if forward is None:
+        return None
+
+    if index is not None and little is not None:
+        lateral_raw = little - index if side == "left" else index - little
+    elif index is not None:
+        lateral_raw = index - middle
+    elif little is not None:
+        lateral_raw = middle - little
+    else:
+        return None
+
+    lateral = lateral_raw - np.dot(lateral_raw, forward) * forward
+    x_axis = normalize_vector(lateral)
+    if x_axis is None:
+        return None
+
+    y_axis = normalize_vector(np.cross(forward, x_axis))
+    if y_axis is None:
+        return None
+    z_axis = normalize_vector(np.cross(x_axis, y_axis))
+    if z_axis is None:
+        return None
+    return np.column_stack((x_axis, y_axis, z_axis))
+
+
+def skeleton_points(skeleton: Mapping[str, Any] | None) -> np.ndarray:
+    if skeleton is None:
+        return np.empty((0, 3), dtype=np.float64)
+    positions = np.asarray(skeleton.get("positions", []), dtype=np.float64)
+    valid = np.asarray(skeleton.get("valid", []), dtype=bool)
+    if positions.ndim != 2 or positions.shape[1] != 3 or valid.ndim != 1:
+        return np.empty((0, 3), dtype=np.float64)
+    if positions.shape[0] != valid.shape[0]:
+        return np.empty((0, 3), dtype=np.float64)
+    return positions[valid]
+
+
+def draw_openxr_skeleton(
+    ax,
+    skeleton: Mapping[str, Any],
+    *,
+    display_frame: np.ndarray,
+    color: str,
+    alpha: float,
+) -> list[np.ndarray]:
+    joint_names = [str(name) for name in skeleton.get("joint_names", [])]
+    positions = np.asarray(skeleton.get("positions", []), dtype=np.float64)
+    valid = np.asarray(skeleton.get("valid", []), dtype=bool)
+    if positions.ndim != 2 or positions.shape[1] != 3:
+        return []
+    if valid.ndim != 1 or positions.shape[0] != valid.shape[0]:
+        return []
+
+    name_to_index = {name: index for index, name in enumerate(joint_names)}
+    draw_positions = transform_points(positions, display_frame)
+    drawn_points: list[np.ndarray] = []
+    for joint_a, joint_b in OPENXR_HAND_BONES:
+        index_a = name_to_index.get(joint_a)
+        index_b = name_to_index.get(joint_b)
+        if index_a is None or index_b is None:
+            continue
+        if not (valid[index_a] and valid[index_b]):
+            continue
+        point_a = draw_positions[index_a]
+        point_b = draw_positions[index_b]
+        ax.plot(
+            [point_a[0], point_b[0]],
+            [point_a[1], point_b[1]],
+            [point_a[2], point_b[2]],
+            color=color,
+            linewidth=2.0,
+            alpha=alpha,
+        )
+        drawn_points.extend([point_a, point_b])
+
+    points = draw_positions[valid]
+    if points.size:
+        ax.scatter(
+            points[:, 0],
+            points[:, 1],
+            points[:, 2],
+            color=color,
+            s=14,
+            alpha=min(0.9, alpha + 0.1),
+        )
+        drawn_points.extend(list(points))
+    return drawn_points
+
+
+def joint_lookup(
+    joint_names: Sequence[str],
+    joint_positions: Sequence[float] | None,
+    side: str,
+) -> dict[str, float]:
+    if joint_positions is None:
+        return {}
+    prefix = f"{side[0].upper()}_"
+    lookup: dict[str, float] = {}
+    for name, value in zip(joint_names, joint_positions):
+        clean_name = str(name)
+        if clean_name.startswith(prefix):
+            clean_name = clean_name[len(prefix) :]
+        if clean_name.endswith("_joint"):
+            clean_name = clean_name[: -len("_joint")]
+        lookup[clean_name] = float(value)
+    return lookup
+
+
+def fallback_finger_chain(
+    *,
+    lateral: float,
+    base_forward: float,
+    flex_a: float,
+    flex_b: float,
+    scale: float,
+) -> np.ndarray:
+    lengths = np.asarray([0.040, 0.030, 0.023], dtype=np.float64) * scale
+    angles = np.asarray([0.15, flex_a, flex_a + flex_b], dtype=np.float64)
+    points = [np.asarray([lateral, 0.0, base_forward], dtype=np.float64) * scale]
+    current = points[0].copy()
+    for length, angle in zip(lengths, angles):
+        direction = np.asarray([0.0, -np.sin(angle), np.cos(angle)])
+        current = current + direction * length
+        points.append(current.copy())
+    return np.asarray(points, dtype=np.float64)
+
+
+def fallback_thumb_chain(
+    *,
+    side_sign: float,
+    yaw: float,
+    pitch: float,
+    scale: float,
+) -> np.ndarray:
+    base = np.asarray([side_sign * 0.050, -0.005, 0.010], dtype=np.float64) * scale
+    lengths = np.asarray([0.035, 0.027, 0.022], dtype=np.float64) * scale
+    direction = np.asarray(
+        [
+            side_sign * (0.65 + 0.25 * np.sin(yaw)),
+            -0.25 - 0.55 * np.sin(pitch),
+            0.60 * np.cos(pitch),
+        ],
+        dtype=np.float64,
+    )
+    direction /= max(float(np.linalg.norm(direction)), 1e-8)
+    points = [base]
+    current = base.copy()
+    for length in lengths:
+        current = current + direction * length
+        points.append(current.copy())
+    return np.asarray(points, dtype=np.float64)
+
+
+def draw_fallback_hand(
+    ax,
+    *,
+    pose_mat: np.ndarray,
+    joint_names: Sequence[str],
+    joint_positions: Sequence[float] | None,
+    side: str,
+    color: str,
+    display_frame: np.ndarray,
+    scale: float,
+) -> list[np.ndarray]:
+    lookup = joint_lookup(joint_names, joint_positions, side)
+    rot = pose_mat[:3, :3]
+    origin = pose_mat[:3, 3]
+    side_sign = -1.0 if side == "left" else 1.0
+    local_chains = []
+
+    finger_offsets = {
+        "index": side_sign * 0.030,
+        "middle": side_sign * 0.010,
+        "ring": side_sign * -0.012,
+        "pinky": side_sign * -0.032,
+    }
+    for finger, lateral in finger_offsets.items():
+        flex_keys = ROBOT_FINGER_KEYS[finger]
+        local_chains.append(
+            fallback_finger_chain(
+                lateral=lateral,
+                base_forward=0.020,
+                flex_a=lookup.get(flex_keys[0], 0.2),
+                flex_b=lookup.get(flex_keys[1], 0.2),
+                scale=scale,
+            )
+        )
+
+    thumb_yaw, thumb_pitch = ROBOT_FINGER_KEYS["thumb"]
+    local_chains.append(
+        fallback_thumb_chain(
+            side_sign=side_sign,
+            yaw=lookup.get(thumb_yaw, 0.0),
+            pitch=lookup.get(thumb_pitch, 0.2),
+            scale=scale,
+        )
+    )
+
+    palm = (
+        np.asarray(
+            [
+                [0.0, 0.0, 0.0],
+                [side_sign * 0.040, -0.004, 0.010],
+                [side_sign * -0.040, -0.004, 0.010],
+            ],
+            dtype=np.float64,
+        )
+        * scale
+    )
+    world_palm = transform_points(origin + palm @ rot.T, display_frame)
+    ax.plot(
+        world_palm[:, 0],
+        world_palm[:, 1],
+        world_palm[:, 2],
+        color=color,
+        linewidth=1.4,
+        alpha=0.55,
+    )
+
+    world_points: list[np.ndarray] = []
+    for chain in local_chains:
+        world_chain = transform_points(origin + chain @ rot.T, display_frame)
+        ax.plot(
+            world_chain[:, 0],
+            world_chain[:, 1],
+            world_chain[:, 2],
+            color=color,
+            linewidth=2.0,
+            alpha=0.75,
+        )
+        ax.scatter(
+            world_chain[:, 0],
+            world_chain[:, 1],
+            world_chain[:, 2],
+            color=color,
+            s=12,
+            alpha=0.65,
+        )
+        world_points.extend(list(world_chain))
+    world_points.extend(list(world_palm))
+    return world_points
+
+
+def set_equal_axes(ax, points: Sequence[np.ndarray], min_half_width: float) -> None:
+    finite_points = [
+        np.asarray(point, dtype=np.float64)
+        for point in points
+        if np.asarray(point).shape == (3,) and np.all(np.isfinite(point))
+    ]
+    if not finite_points:
+        ax.set_xlim(-min_half_width, min_half_width)
+        ax.set_ylim(-min_half_width, min_half_width)
+        ax.set_zlim(-min_half_width, min_half_width)
+        return
+
+    pts = np.asarray(finite_points, dtype=np.float64)
+    center = (pts.min(axis=0) + pts.max(axis=0)) * 0.5
+    span = float((pts.max(axis=0) - pts.min(axis=0)).max())
+    half_width = max(min_half_width, span * 0.65)
+    ax.set_xlim(center[0] - half_width, center[0] + half_width)
+    ax.set_ylim(center[1] - half_width, center[1] + half_width)
+    ax.set_zlim(center[2] - half_width, center[2] + half_width)
+    try:
+        ax.set_box_aspect((1, 1, 1))
+    except AttributeError:
+        pass
+
+
+def parse_args(argv: Sequence[str] | None = None) -> argparse.Namespace:
+    parser = argparse.ArgumentParser(
+        description="Visualize AVP/MANUS teleop EE poses and hand skeletons."
+    )
+    parser.add_argument(
+        "--config",
+        type=Path,
+        default=default_config_path(),
+        help="YAML config used by the G1-Wuji teleop app.",
+    )
+    parser.add_argument(
+        "--fps",
+        type=float,
+        default=30.0,
+        help="Visualization and teleop sampling rate.",
+    )
+    parser.add_argument(
+        "--axis-limit",
+        type=float,
+        default=0.12,
+        help="Minimum half-width of the 3D view, in meters.",
+    )
+    parser.add_argument(
+        "--window-width",
+        type=float,
+        default=14.0,
+        help="Matplotlib window width in inches.",
+    )
+    parser.add_argument(
+        "--window-height",
+        type=float,
+        default=10.0,
+        help="Matplotlib window height in inches.",
+    )
+    parser.add_argument(
+        "--include-origin",
+        action="store_true",
+        help="Include the world origin in auto-scaling.",
+    )
+    parser.add_argument(
+        "--world-axis-length",
+        type=float,
+        default=0.16,
+        help="Length of the drawn calibrated head-hand coordinate axes in meters.",
+    )
+    parser.add_argument(
+        "--trail",
+        type=int,
+        default=120,
+        help="Number of EE trail points to keep per side. Use 0 to disable.",
+    )
+    parser.add_argument(
+        "--arrow-length",
+        type=float,
+        default=0.08,
+        help="EE orientation arrow length, in meters.",
+    )
+    parser.add_argument(
+        "--ee-arrow-mode",
+        choices=("hand", "pose"),
+        default="hand",
+        help=(
+            "Arrow frame source: 'hand' derives axes from visible hand geometry; "
+            "'pose' draws the calibrated EE quaternion."
+        ),
+    )
+    parser.add_argument(
+        "--fallback-hand-scale",
+        type=float,
+        default=1.0,
+        help="Scale for the synthetic hand skeleton used when raw hand joints are absent.",
+    )
+    return parser.parse_args(sys.argv[1:] if argv is None else argv)
+
+
+def main(argv: Sequence[str] | None = None) -> int:
+    ensure_import_paths()
+    args = parse_args(argv)
+    require_cloudxr_environment()
+    display_frame = DISPLAY_FRAME
+    trails = {side: deque(maxlen=max(0, args.trail)) for side in SIDE_COLORS}
+    fig = plt.figure(figsize=(args.window_width, args.window_height))
+    ax = fig.add_subplot(111, projection="3d")
+    start_s = time.monotonic()
+    frames = 0
+    last_print_s = 0.0
+    latest_sample: dict[str, Any] | None = None
+    visual_frame_state: VisualFrameState | None = None
+    view_index = 0
+
+    def apply_view() -> None:
+        _name, elev, azim = VIEW_PRESETS[view_index]
+        ax.view_init(elev=elev, azim=azim)
+
+    def on_click(event) -> None:
+        nonlocal view_index
+        if event.inaxes is not ax:
+            return
+        view_index = (view_index + 1) % len(VIEW_PRESETS)
+        apply_view()
+        fig.canvas.draw_idle()
+        print(f"view={VIEW_PRESETS[view_index][0]}", flush=True)
+
+    fig.canvas.mpl_connect("button_press_event", on_click)
+
+    with TeleopMain.from_config_file(args.config) as teleop:
+
+        def update(_frame_num: int) -> None:
+            nonlocal frames, last_print_s, latest_sample, visual_frame_state
+            frames += 1
+            latest_sample = teleop.step()
+            if visual_frame_state is None:
+                visual_frame_state = visual_frame_state_from_sample(latest_sample)
+            ax.clear()
+            origin = np.zeros(3, dtype=np.float64)
+            all_points: list[np.ndarray] = [origin] if args.include_origin else []
+
+            draw_world_axes(
+                ax,
+                display_frame=display_frame,
+                length=float(args.world_axis_length),
+                label="head-hand origin",
+            )
+            all_points.append(draw_fixed_head_pose(ax, display_frame=display_frame))
+
+            if visual_frame_state is None:
+                set_equal_axes(ax, all_points, float(args.axis_limit))
+                ax.set_xlabel("+X forward")
+                ax.set_ylabel("+Y left")
+                ax.set_zlabel("+Z up")
+                apply_view()
+                ax.legend(loc="upper left", fontsize=8)
+                ax.set_title(
+                    "AVP/MANUS Teleop Visualizer | waiting for head + both wrist poses"
+                )
+                return
+
+            for side, color in SIDE_COLORS.items():
+                pose = latest_sample["ee_poses"][side]
+                local_pose_mat = (
+                    pose_to_visual_frame_matrix(pose, visual_frame_state)
+                    if pose is not None
+                    else None
+                )
+                pose_mat = (
+                    transform_pose_matrix(local_pose_mat, display_frame)
+                    if local_pose_mat is not None
+                    else None
+                )
+                skeleton = skeleton_to_visual_frame(
+                    latest_sample["hand_skeletons"][side],
+                    visual_frame_state,
+                )
+
+                if skeleton is not None:
+                    points = draw_openxr_skeleton(
+                        ax,
+                        skeleton,
+                        display_frame=display_frame,
+                        color=color,
+                        alpha=0.8,
+                    )
+                    all_points.extend(points)
+
+                if pose_mat is not None:
+                    pos = pose_mat[:3, 3]
+                    all_points.append(pos)
+                    if args.trail > 0:
+                        trails[side].append(pos.copy())
+                    ax.scatter(
+                        pos[0],
+                        pos[1],
+                        pos[2],
+                        color=color,
+                        edgecolors="black",
+                        linewidths=0.8,
+                        s=190,
+                        label=f"{side} EE",
+                        zorder=10,
+                    )
+                    arrow_rot = (
+                        geometric_hand_frame(skeleton, side=side)
+                        if args.ee_arrow_mode == "hand"
+                        else None
+                    )
+                    if arrow_rot is None:
+                        arrow_rot = local_pose_mat[:3, :3]
+                    arrow_rot = transform_rotation(arrow_rot, display_frame)
+                    draw_pose_axes(
+                        ax,
+                        pos,
+                        arrow_rot,
+                        length=float(args.arrow_length),
+                    )
+
+                    if skeleton is None or skeleton_points(skeleton).size == 0:
+                        fallback_points = draw_fallback_hand(
+                            ax,
+                            pose_mat=local_pose_mat,
+                            joint_names=latest_sample["hand_joint_names"][side],
+                            joint_positions=latest_sample["hand_joint_positions"][side],
+                            side=side,
+                            color=color,
+                            display_frame=display_frame,
+                            scale=float(args.fallback_hand_scale),
+                        )
+                        all_points.extend(fallback_points)
+
+                trail = np.asarray(trails[side], dtype=np.float64)
+                if trail.shape[0] > 1:
+                    ax.plot(
+                        trail[:, 0],
+                        trail[:, 1],
+                        trail[:, 2],
+                        color=color,
+                        linestyle="--",
+                        linewidth=1.0,
+                        alpha=0.25,
+                    )
+                    all_points.extend(list(trail))
+
+            set_equal_axes(ax, all_points, float(args.axis_limit))
+            ax.set_xlabel("+X forward")
+            ax.set_ylabel("+Y left")
+            ax.set_zlabel("+Z up")
+            apply_view()
+            ax.legend(loc="upper left", fontsize=8)
+            elapsed_s = max(time.monotonic() - start_s, 1e-6)
+            ax.set_title(
+                "AVP/MANUS Teleop Visualizer | "
+                f"frame={latest_sample['frame_count']} "
+                f"fps={frames / elapsed_s:.1f} "
+                f"view={VIEW_PRESETS[view_index][0]} "
+                "click=flip view"
+            )
+
+            now_s = time.monotonic()
+            if now_s - last_print_s >= 2.0:
+                last_print_s = now_s
+                chunks = []
+                for side in SIDE_COLORS:
+                    pose = latest_sample["ee_poses"][side]
+                    if pose is None:
+                        chunks.append(f"{side}=missing")
+                    else:
+                        pos = pose_to_visual_frame_matrix(
+                            pose,
+                            visual_frame_state,
+                        )[:3, 3]
+                        chunks.append(f"{side}={np.round(pos, 3)}")
+                print(
+                    f"frame={latest_sample['frame_count']} " + " ".join(chunks),
+                    flush=True,
+                )
+
+        interval_ms = max(int(1000.0 / max(float(args.fps), 1e-3)), 16)
+        _animation = FuncAnimation(
+            fig,
+            update,
+            interval=interval_ms,
+            cache_frame_data=False,
+        )
+        try:
+            plt.show()
+        except KeyboardInterrupt:
+            pass
+
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/examples/g1_wuji_teleop/scripts/g1_wuji_teleop_main.py b/examples/g1_wuji_teleop/scripts/g1_wuji_teleop_main.py
new file mode 100755
index 000000000..745d214ba
--- /dev/null
+++ b/examples/g1_wuji_teleop/scripts/g1_wuji_teleop_main.py
@@ -0,0 +1,29 @@
+#!/usr/bin/env python3
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Thin launcher for the G1-Wuji AVP + MANUS teleop application."""
+
+from __future__ import annotations
+
+import sys
+from pathlib import Path
+
+
+def _ensure_app_import_path() -> None:
+    example_root = Path(__file__).resolve().parents[1]
+    app_python_dir = example_root / "python"
+    path_str = str(app_python_dir)
+    if path_str not in sys.path:
+        sys.path.insert(0, path_str)
+
+
+def main() -> int:
+    _ensure_app_import_path()
+    from g1_wuji_teleop.cli import teleop_main
+
+    return teleop_main()
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/examples/g1_wuji_teleop/scripts/g1_wuji_teleop_visualizer.py b/examples/g1_wuji_teleop/scripts/g1_wuji_teleop_visualizer.py
new file mode 100755
index 000000000..1952b176f
--- /dev/null
+++ b/examples/g1_wuji_teleop/scripts/g1_wuji_teleop_visualizer.py
@@ -0,0 +1,29 @@
+#!/usr/bin/env python3
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Thin launcher for the G1-Wuji teleop visualizer."""
+
+from __future__ import annotations
+
+import sys
+from pathlib import Path
+
+
+def _ensure_app_import_path() -> None:
+    example_root = Path(__file__).resolve().parents[1]
+    app_python_dir = example_root / "python"
+    path_str = str(app_python_dir)
+    if path_str not in sys.path:
+        sys.path.insert(0, path_str)
+
+
+def main() -> int:
+    _ensure_app_import_path()
+    from g1_wuji_teleop.cli import teleop_visualizer_main
+
+    return teleop_visualizer_main()
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/examples/teleop/CMakeLists.txt b/examples/teleop/CMakeLists.txt
index 94a93beb1..4e5e02bd4 100644
--- a/examples/teleop/CMakeLists.txt
+++ b/examples/teleop/CMakeLists.txt
@@ -6,3 +6,11 @@ project(teleop_examples)
 
 include(${CMAKE_SOURCE_DIR}/cmake/InstallPythonExample.cmake)
 install_python_example(DESTINATION examples/teleop/python)
+
+install(DIRECTORY python/config
+    DESTINATION examples/teleop/python
+)
+
+install(DIRECTORY python/assets
+    DESTINATION examples/teleop/python
+)
diff --git a/examples/teleop/python/pyproject.toml b/examples/teleop/python/pyproject.toml
index db0aa891d..a17306c10 100644
--- a/examples/teleop/python/pyproject.toml
+++ b/examples/teleop/python/pyproject.toml
@@ -8,4 +8,6 @@ description = "Isaac Teleop Retargeting Examples"
 requires-python = ">=3.10,<3.14"
 dependencies = [
     "isaacteleop[retargeters]",
+    "matplotlib",
+    "PyYAML",
 ]
diff --git a/scripts/setup_v2d_src.sh b/scripts/setup_v2d_src.sh
index 38dbd73c5..8fcf680e6 100755
--- a/scripts/setup_v2d_src.sh
+++ b/scripts/setup_v2d_src.sh
@@ -22,9 +22,11 @@
 
 set -euo pipefail
 
+# 1. Enter the repository root so all relative paths resolve from the repo top level.
 REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
 cd "${REPO_ROOT}"
 
+# 2. Read and validate the V2D commit SHA pinned in `version.txt`.
 VERSION_FILE="deps/v2d/version.txt"
 if [[ ! -f "${VERSION_FILE}" ]]; then
     echo "error: ${VERSION_FILE} is missing." >&2
@@ -42,16 +44,19 @@ if ! [[ "${V2D_REF}" =~ ^[0-9a-fA-F]{40}$ ]]; then
 fi
 echo "Pinned V2D ref: ${V2D_REF}"
 
+# 3. Check that the `gh` CLI is available and that the current account can read the V2D repo.
 if ! command -v gh >/dev/null 2>&1; then
     echo "error: gh CLI not found. Install from https://cli.github.com/" >&2
     echo "       and run 'gh auth login' with read access to jiwenc-nv/v2d." >&2
     exit 1
 fi
 
+# 4. Prepare the destination directory and remove the previous `robotic_grounding` copy first.
 DST="deps/v2d/src/robotic_grounding"
 mkdir -p deps/v2d/src
 rm -rf "${DST}"
 
+# 5. Clone the V2D repository into a temporary directory and check out the commit pinned in `version.txt`.
 # Whole retargeter branch is ~25 MB so a normal clone is fine. Clone the
 # branch tip then check out the exact pinned SHA.
 WORK_DIR=$(mktemp -d -t v2d-src.XXXXXX)
@@ -59,10 +64,14 @@ trap 'rm -rf "${WORK_DIR}"' EXIT
 gh repo clone jiwenc-nv/v2d "${WORK_DIR}/v2d" -- --branch retargeter
 git -C "${WORK_DIR}/v2d" checkout "${V2D_REF}"
 
+# 6. Copy only the `robotic_grounding` Python source subtree that needs to be packaged into the wheel.
 cp -a \
     "${WORK_DIR}/v2d/robotic_grounding/source/robotic_grounding/robotic_grounding" \
     "${DST}"
+
+# 7. Remove any Python cache directories that may have been copied over so unrelated artifacts do not leak into later builds.
 # Drop bytecode caches if any slipped through.
 find "${DST}" -type d -name __pycache__ -exec rm -rf {} + 2>/dev/null || true
 
+# 8. Print a completion message so the destination directory and pinned commit are easy to verify.
 echo "Done -> ${DST} (cloned from jiwenc-nv/v2d @ ${V2D_REF})"
diff --git a/src/plugins/manus/app/main.cpp b/src/plugins/manus/app/main.cpp
index ede86165d..26ff0b065 100644
--- a/src/plugins/manus/app/main.cpp
+++ b/src/plugins/manus/app/main.cpp
@@ -5,6 +5,7 @@
 
 #include <chrono>
 #include <iostream>
+#include <string_view>
 #include <thread>
 
 using namespace plugins::manus;
@@ -14,7 +15,22 @@ try
 {
     std::cout << "Manus Hand Plugin starting..." << std::endl;
 
-    auto& tracker = ManusTracker::instance();
+    bool disable_optical_wrist = false;
+    for (int i = 1; i < argc; ++i)
+    {
+        const std::string_view arg(argv[i]);
+        if (arg == "--disable-optical-wrist")
+        {
+            disable_optical_wrist = true;
+        }
+        else if (arg == "--help" || arg == "-h")
+        {
+            std::cout << "Usage: " << argv[0] << " [--disable-optical-wrist]\n";
+            return 0;
+        }
+    }
+
+    auto& tracker = ManusTracker::instance("ManusHandPlugin", disable_optical_wrist);
 
     std::cout << "Plugin running. Press Ctrl+C to stop." << std::endl;
 
diff --git a/src/plugins/manus/core/inc/manus/manus_hand_tracking_plugin.hpp b/src/plugins/manus/core/inc/manus/manus_hand_tracking_plugin.hpp
index 85cd95f43..7650fc58b 100644
--- a/src/plugins/manus/core/inc/manus/manus_hand_tracking_plugin.hpp
+++ b/src/plugins/manus/core/inc/manus/manus_hand_tracking_plugin.hpp
@@ -33,7 +33,8 @@ class __attribute__((visibility("default"))) ManusTracker
 {
 public:
     /// Get the singleton instance
-    static ManusTracker& instance(const std::string& app_name = "ManusHandPlugin") noexcept(false);
+    static ManusTracker& instance(const std::string& app_name = "ManusHandPlugin",
+                                  bool disable_optical_wrist = false) noexcept(false);
 
     void update();
     std::vector<SkeletonNode> get_left_hand_nodes() const;
@@ -43,7 +44,7 @@ class __attribute__((visibility("default"))) ManusTracker
 
 private:
     // Lifecycle
-    explicit ManusTracker(const std::string& app_name) noexcept(false);
+    explicit ManusTracker(const std::string& app_name, bool disable_optical_wrist) noexcept(false);
     ~ManusTracker();
 
     ManusTracker(const ManusTracker&) = delete;
@@ -76,6 +77,7 @@ class __attribute__((visibility("default"))) ManusTracker
     // Lifecycle
     std::mutex m_lifecycle_mutex;
     bool m_initialized = false;
+    bool m_disable_optical_wrist = false;
 
     // ManusSDK State
     std::mutex landscape_mutex;
diff --git a/src/plugins/manus/core/manus_hand_tracking_plugin.cpp b/src/plugins/manus/core/manus_hand_tracking_plugin.cpp
index 06212ab22..84ee345f4 100644
--- a/src/plugins/manus/core/manus_hand_tracking_plugin.cpp
+++ b/src/plugins/manus/core/manus_hand_tracking_plugin.cpp
@@ -62,9 +62,9 @@ SDKReturnCode get_raw_skeleton_node_count(uint32_t glove_id, uint32_t& node_coun
 static constexpr XrPosef kLeftHandOffset = { { -0.70710678f, -0.5f, 0.0f, 0.5f }, { -0.1f, 0.02f, -0.02f } };
 static constexpr XrPosef kRightHandOffset = { { -0.70710678f, 0.5f, 0.0f, 0.5f }, { 0.1f, 0.02f, -0.02f } };
 
-ManusTracker& ManusTracker::instance(const std::string& app_name) noexcept(false)
+ManusTracker& ManusTracker::instance(const std::string& app_name, bool disable_optical_wrist) noexcept(false)
 {
-    static ManusTracker s(app_name);
+    static ManusTracker s(app_name, disable_optical_wrist);
     return s;
 }
 
@@ -106,7 +106,8 @@ std::vector<NodeInfo> ManusTracker::get_right_node_info() const
     return m_right_node_info;
 }
 
-ManusTracker::ManusTracker(const std::string& app_name) noexcept(false)
+ManusTracker::ManusTracker(const std::string& app_name, bool disable_optical_wrist) noexcept(false)
+    : m_disable_optical_wrist(disable_optical_wrist)
 {
     initialize(app_name);
 }
@@ -128,6 +129,10 @@ ManusTracker::~ManusTracker()
 void ManusTracker::initialize(const std::string& app_name) noexcept(false)
 {
     std::cout << "[Manus] Initializing SDK..." << std::endl;
+    if (m_disable_optical_wrist)
+    {
+        std::cout << "[Manus] Optical wrist source disabled by argument; controller fallback will be used." << std::endl;
+    }
     const SDKReturnCode t_InitializeResult = CoreSdk_InitializeIntegrated();
     if (t_InitializeResult != SDKReturnCode::SDKReturnCode_Success)
     {
@@ -188,11 +193,16 @@ void ManusTracker::initialize(const std::string& app_name) noexcept(false)
         // XR_MNDX_XDEV_SPACE_EXTENSION_NAME is optional: it enables optical (HMD) hand
         // tracking as a higher-quality wrist source. If the runtime does not advertise
         // it we fall back to controller-based tracking instead of crashing.
-        const bool xdev_extension_supported = is_openxr_extension_supported(XR_MNDX_XDEV_SPACE_EXTENSION_NAME);
+        const bool xdev_extension_supported =
+            !m_disable_optical_wrist && is_openxr_extension_supported(XR_MNDX_XDEV_SPACE_EXTENSION_NAME);
         if (xdev_extension_supported)
         {
             extensions.push_back(XR_MNDX_XDEV_SPACE_EXTENSION_NAME);
         }
+        else if (m_disable_optical_wrist)
+        {
+            std::cout << "[Manus] Optical hand tracking disabled; controller fallback will be used." << std::endl;
+        }
         else
         {
             std::cout << "[Manus] " << XR_MNDX_XDEV_SPACE_EXTENSION_NAME
diff --git a/src/viz/python/layers_bindings.cpp b/src/viz/python/layers_bindings.cpp
index dba90c76c..93cef47c5 100644
--- a/src/viz/python/layers_bindings.cpp
+++ b/src/viz/python/layers_bindings.cpp
@@ -131,8 +131,13 @@ numpy on a CUDA device pointer); the binding converts it on the fly.
         .def("set_placement", &viz::QuadLayer::set_placement, "placement"_a,
              "Update placement at runtime. None switches to fullscreen (window mode only).")
         .def("placement", &viz::QuadLayer::placement)
-        .def("set_visible", &viz::QuadLayer::set_visible, "visible"_a)
-        .def("is_visible", &viz::QuadLayer::is_visible)
+        // LayerBase itself is not exposed to Python, so bind inherited
+        // visibility helpers through lambdas on QuadLayer. Binding the
+        // raw LayerBase member pointer here makes pybind11 expect a
+        // registered LayerBase Python instance as ``self``.
+        .def(
+            "set_visible", [](viz::QuadLayer& self, bool visible) { self.set_visible(visible); }, "visible"_a)
+        .def("is_visible", [](const viz::QuadLayer& self) { return self.is_visible(); })
         .def_property_readonly("name", [](const viz::QuadLayer& l) { return l.name(); });
 }
 
diff --git a/src/viz/python_tests/test_offscreen_session.py b/src/viz/python_tests/test_offscreen_session.py
index d1f0946bc..43ae513ae 100644
--- a/src/viz/python_tests/test_offscreen_session.py
+++ b/src/viz/python_tests/test_offscreen_session.py
@@ -251,3 +251,25 @@ def test_stereo_invalid_baseline_rejected():
         session.add_quad_layer(layer_cfg)
 
     session.destroy()
+
+
+def test_quad_layer_visibility_toggle():
+    """QuadLayer exposes LayerBase visibility helpers through the Python binding."""
+    cfg = viz.VizSessionConfig()
+    cfg.mode = viz.DisplayMode.kOffscreen
+    cfg.window_width = 64
+    cfg.window_height = 64
+    session = viz.VizSession.create(cfg)
+
+    layer_cfg = viz.QuadLayerConfig()
+    layer_cfg.name = "visibility"
+    layer_cfg.resolution = viz.Resolution(32, 32)
+    layer = session.add_quad_layer(layer_cfg)
+
+    assert layer.is_visible() is True
+    layer.set_visible(False)
+    assert layer.is_visible() is False
+    layer.set_visible(True)
+    assert layer.is_visible() is True
+
+    session.destroy()
diff --git a/third_party/wuji-retargeting b/third_party/wuji-retargeting
new file mode 160000
index 000000000..e3636d64c
--- /dev/null
+++ b/third_party/wuji-retargeting
@@ -0,0 +1 @@
+Subproject commit e3636d64c9b171195d90d1024a705f973ee3c5ed