🍒 [release/1.6.x] docs: align Markdown documentation with Isaac Capture

.claude/skills/cmake-structure/SKILL.md

@@ -1,7 +1,7 @@
 ---
 name: cmake-structure
 description: >-
-  IsaacTeleop CMake target layout and #include conventions. Use whenever you
+  Isaac Capture CMake target layout and #include conventions. Use whenever you
   create or edit a CMakeLists.txt, add or move a module/library/executable/test
   target, set up target_include_directories or target_link_libraries, decide
   where a header file goes (private vs public inc/), write or reorder #include
@@ -15,7 +15,7 @@ SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES.
 SPDX-License-Identifier: Apache-2.0
 -->
 
-# IsaacTeleop CMake & include structure
+# Isaac Capture CMake & include structure
 
 The rules, recommended structure, repo conventions, and review checklist live in
 the repo's single source of truth:

.github/ISSUE_TEMPLATE/bug_report.md

@@ -26,7 +26,7 @@ A clear and concise description of what you expected to happen.
 If applicable, add screenshots to help explain your problem.
 
 **Platforms**
- - Isaac Teleop Version: [e.g. 1.0.23]
+ - Isaac Capture Version: [e.g. 1.0.23]
  - OS: [e.g. Ubuntu X86, ARM64]
  - Integrations: [e.g. Isaac Lab, Isaac Sim, ROS2]
  - XR Device: [e.g. Quest 3, Pico 4 Ultra]

AGENTS.md

@@ -22,24 +22,29 @@ SPDX-License-Identifier: Apache-2.0
   Repository owners: keep this block at the top of this file; do not delete it.
 -->
 
-# IsaacTeleop — agent notes
+# Isaac Capture — agent notes
+
+## Product naming
+
+Isaac Capture names the overall library and repository. Isaac Teleop remains its
+teleoperation component; preserve that brand and existing technical identifiers.
 
 ## CRITICAL — mandatory preflight (do not skip)
 
-**Hard requirement:** Do **not** edit or add code under `IsaacTeleop/` until you have **read** (e.g. with the Read tool) **every** relevant `AGENTS.md` file as defined below. This is **not** optional, **not** "only for large tasks," and **not** satisfiable by inferring from prior conversation. If you have not read those files in **this** session for **this** task, stop and read them first.
+**Hard requirement:** Do **not** edit or add code under `IsaacCapture/` until you have **read** (e.g. with the Read tool) **every** relevant `AGENTS.md` file as defined below. This is **not** optional, **not** "only for large tasks," and **not** satisfiable by inferring from prior conversation. If you have not read those files in **this** session for **this** task, stop and read them first.
 
 **You must:**
 
 1. List the **directories** you expect to edit or create files under (e.g. `src/core/live_trackers/cpp/`, `src/core/deviceio_base/cpp/inc/…`).
 2. For **each** such directory, **read** **`AGENTS.md` in that directory** if it exists.
-3. Walk **up** toward the **IsaacTeleop repo root** and **read** **`AGENTS.md` in every ancestor directory** that has one (e.g. `live_trackers/` → `src/core/` → **`IsaacTeleop/AGENTS.md` (this file)**).
+3. Walk **up** toward the **IsaacCapture repo root** and **read** **`AGENTS.md` in every ancestor directory** that has one (e.g. `live_trackers/` → `src/core/` → **`IsaacCapture/AGENTS.md` (this file)**).
 
 **You must not** assume that reading the single "closest" `AGENTS.md` is enough. **Multiple** `AGENTS.md` files can apply to one change (e.g. both `live_trackers` and `deviceio_base`).
 
 **Listing every `AGENTS.md` in this repo** (no curated table here—add new files under the tree without editing this document):
 
 ```bash
-# Run from the IsaacTeleop repository root (the directory that contains this file):
+# Run from the IsaacCapture repository root (the directory that contains this file):
 find . -name AGENTS.md ! -path '*/.git/*' | sort
 ```
 
@@ -215,7 +220,7 @@ pre-commit install --hook-type commit-msg
 
 ## Pre-commit — match CI before you stop
 
-- From the **IsaacTeleop repo root** (this directory), run pre-commit and **fix all failures** before you treat a change as finished (do not only rely on “should pass” reasoning).
+- From the **IsaacCapture repo root** (this directory), run pre-commit and **fix all failures** before you treat a change as finished (do not only rely on “should pass” reasoning).
 - **Use the same hook set as GitHub Actions:** `.github/workflows/pre-commit.yaml` runs pre-commit with **`SKIP=check-copyright-year`**. Mirror that locally:
 
   ```bash

CODE_OF_CONDUCT.md

@@ -2,7 +2,7 @@
 
 ## Overview
 
-Define the code of conduct followed and enforced for Isaac Teleop
+Define the code of conduct followed and enforced for Isaac Capture
 
 ### Intended audience
 

README.md

@@ -3,13 +3,11 @@ SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES.
 SPDX-License-Identifier: Apache-2.0
 -->
 
-![Isaac Teleop](docs/source/_static/isaac-teleop-hero.jpg)
-
-# Isaac Teleop
+# NVIDIA Isaac Capture
 
 <div align="center">
 
-**The unified framework for high-fidelity ego-centric and robotics data collection.**
+**Shared capture infrastructure for teleoperation and egocentric data.**
 
 [![Python](https://img.shields.io/badge/python-3.11%2B-blue.svg)](https://www.python.org/downloads/)
 [![Isaac Lab](https://img.shields.io/badge/Isaac%20Lab-3.0.0-orange.svg)](https://isaac-sim.github.io/IsaacLab/develop)
@@ -21,32 +19,46 @@ SPDX-License-Identifier: Apache-2.0
 
 ---
 
+<!-- Keep one overview image, below the title and badges and immediately before Overview. -->
+![Isaac Capture architecture: Isaac Teleop and Ego Pipeline share device plugins, retargeters, and data utilities, with integrations into simulation and real-robot environments](docs/source/_static/isaac-capture-architecture.png)
+
 ## Overview
 
-**Isaac Teleop**: The unified standard for high-fidelity egocentric and robot data collection.
-It is designed to address the data bottleneck in robot learning by streamlining device integration;
-standardizing high-fidelity human demo data collection; and foster device & data interoperability.
+**Isaac Capture** provides shared infrastructure for collecting human and robot demonstration data.
+It brings together two components:
+
+- **Isaac Teleop** supports robot-in-the-loop capture through teleoperation, including Teleop Session and Remote Assist.
+- **Ego Pipeline** supports human and egocentric data capture through Ego Capture and Ego Post Processing.
+
+Both components use a shared core of device plugins, retargeters, and data utilities for recording,
+replaying, and converting data. Isaac Teleop remains a component of Isaac Capture, with its existing
+functionality preserved.
 
 ## Key Features
 
 - Unified stack for sim & real teleoperation
 - Standardized device interface
 - Flexible retargeting framework
 
-### Teleoperation Use Cases
+### Isaac Teleop
 
 - Currently supported use cases
   - Use XR headsets for gripper / tri-finger hand manipulation
   - Use XR headsets with gloves for dex-hand manipulation
   - Seated full body loco-manipulation (Homie)
   - Tracking based full body loco-manipulation with GR00T-WholeBodyControl (SONIC)
-  - Egocentric data collection (aka “no-robot”)
 - Upcoming use cases
   - Teleoperate using only non-XR devices (e.g. gamepad, Gello, haply, etc.)
   - Teleoperate cloud based robotics simulations
   - Remote teleoperation with camera streaming to the desktop
   - Remote teleoperation with immersive camera streaming to XR headsets
 
+### Ego Pipeline
+
+- Capture egocentric data without a robot in the loop.
+- Reconstruct hand and camera poses from egocentric video with the
+  [Ego Post Processing pipeline](https://nvidia.github.io/IsaacCapture/main/references/egocentric_hand_reconstruction.html).
+
 ## Quick Start
 
 ### Documentation
@@ -60,6 +72,6 @@ Our [documentation page](https://nvidia.github.io/IsaacCapture) provides everyth
 
 ### Install & Run Isaac Lab
 
-Isaac Teleop is design to work side by side with [NVIDIA Isaac Lab](https://github.com/isaac-sim/IsaacLab) starting with Isaac Lab [3.0 Beta release](https://github.com/isaac-sim/IsaacLab/releases/tag/v3.0.0-beta).
+The latest [NVIDIA Isaac Lab](https://github.com/isaac-sim/IsaacLab) release, [3.0.0 EA](https://github.com/isaac-sim/IsaacLab/releases/tag/v3.0.0-EA), includes Isaac Capture, previously released as Isaac Teleop.
 
 To get started, please refer to Isaac Lab's [Installation](https://isaac-sim.github.io/IsaacLab/develop/source/setup/installation/index.html) guide for more details. Then follow the [CloudXR teleoperation in Isaac Lab](https://isaac-sim.github.io/IsaacLab/develop/source/how-to/cloudxr_teleoperation.html) to get started with Teleoperation in Sim.

cmake/cmake-structure.md

@@ -3,7 +3,7 @@ SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES.
 SPDX-License-Identifier: Apache-2.0
 -->
 
-# IsaacTeleop CMake & include structure
+# Isaac Capture CMake & include structure
 
 Single source of truth for how CMake targets, directories, and `#include` paths
 are organized in this repo. These rules apply to **all** coding agents and AI

deps/README.md

@@ -3,7 +3,7 @@ SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES.
 SPDX-License-Identifier: Apache-2.0
 -->
 
-# Isaac Teleop Dependencies
+# Isaac Capture Dependencies
 
 This directory contains all project dependencies, organized by type.
 
@@ -91,7 +91,7 @@ machine and are located via `find_package`.
 ### pybind11
 - **Source**: https://github.com/pybind/pybind11.git
 - **Version**: a2e59f0e7065404b44dfe92a28aca47ba1378dc4 (v2.11.0-182)
-- **Purpose**: C++/Python bindings for Isaac Teleop Python API
+- **Purpose**: C++/Python bindings for Isaac Capture Python API
 - **Build**: Header-only library
 - **License**: BSD-style
 

docs/AGENTS.md

@@ -62,7 +62,7 @@ for non-HTML builders.
 
 ## The external marker follows the target, not the record
 
-The docs site and the IsaacTeleop repository are both this project, so a link into either
+The docs site and the IsaacCapture repository are both this project, so a link into either
 renders with no arrow and no screen-reader "(external)" — tracking links included. Only
 third-party domains get the marker, and other GitHub organizations (`isaac-sim`) count as
 third-party. `ecosystem_grid.PROJECT_REPO` is the one place that boundary is written down.

docs/source/_static/isaac-capture-architecture.png.license

@@ -0,0 +1,2 @@
+SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+SPDX-License-Identifier: Apache-2.0

examples/README.md

@@ -3,7 +3,7 @@ SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All
 SPDX-License-Identifier: Apache-2.0
 -->
 
-# Isaac Teleop examples
+# Isaac Capture examples
 
 Each subdirectory is a self-contained example. Read one, run it, or copy it into
 your own project — the last of those is the reason for the layout below.

src/core/AGENTS.md

@@ -3,11 +3,11 @@ SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES.
 SPDX-License-Identifier: Apache-2.0
 -->
 
-# Agent notes — IsaacTeleop `src/core` (index)
+# Agent notes — Isaac Capture `src/core` (index)
 
 **CRITICAL:** The mandatory multi-file `AGENTS.md` preflight in **[`../../AGENTS.md`](../../AGENTS.md)** applies here too. Before changing anything under `src/core/`, you must have read **this file**, **the repo root `AGENTS.md`**, and **every other `AGENTS.md` on the directory paths you will touch**. Do not skip any of them.
 
-To see **all** `AGENTS.md` files in the IsaacTeleop repo, use the **`find` command (or `**/AGENTS.md` glob) documented in the repo root [`AGENTS.md`](../../AGENTS.md)**—do not rely on a hand-maintained list in this file.
+To see **all** `AGENTS.md` files in the Isaac Capture repo, use the **`find` command (or `**/AGENTS.md` glob) documented in the repo root [`AGENTS.md`](../../AGENTS.md)**—do not rely on a hand-maintained list in this file.
 
 If work under **`src/core/`** went wrong—**user** correction, **pre-commit/CI** failure, or **repeated** same-class mistakes—you **must** follow the repo root **[`AGENTS.md`](../../AGENTS.md)** **Mandatory learning loop**: distill a short rule and **update** the **nearest** relevant `AGENTS.md` (this file or a package file) or **source comments** in the same session (including **delta vs `main`** scope).