Merge branch 'main' into fingertracking

.github/CODEOWNERS

@@ -2,23 +2,23 @@
 * @Eirenliel
 
 # Make everyone be able to approve SolarXR submodule changes
-/solarxr-protocol @ButterscotchV @Erimelowo @ImUrX @loucass003
+/solarxr-protocol @ButterscotchV @Erimelowo @loucass003
 
-# Make Loucas and Uriel the owners of all GUI stuff
-/gui/ @ImUrX @loucass003
-/pnpm-lock.yaml @ImUrX @loucass003
-/pnpm-workspace.yaml @ImUrX @loucass003
+# Make Loucass the owner of all GUI stuff
+/gui/ @loucass003
+/pnpm-lock.yaml @loucass003
+/pnpm-workspace.yaml @loucass003
 
-# Uriel and Erimel responsible for i18n
-/gui/public/i18n/ @ImUrX @Erimelowo
-/gui/src/i18n/ @ImUrX @Erimelowo
-/l10n.toml @ImUrX @Erimelowo
+# loucass003 and Erimel responsible for i18n
+/gui/public/i18n/ @loucass003 @Erimelowo
+/gui/src/i18n/ @loucass003 @Erimelowo
+/l10n.toml @loucass003 @Erimelowo
 
-/gui/src/components/settings/ @Erimelowo @ImUrX @loucass003
+/gui/src/components/settings/ @Erimelowo @loucass003
 
 # Rust part of the GUI
-/gui/src-tauri/ @ImUrX
-/Cargo.lock @ImUrX
+/gui/src-tauri/ @loucass003
+/Cargo.lock @loucass003
 
 # Some server code~
 /server/ @ButterscotchV @Eirenliel @Erimelowo
@@ -32,7 +32,7 @@
 /server/src/main/java/dev/slimevr/filtering/ @Erimelowo
 
 # Linux files
-*.nix @ImUrX
-/flake.lock @ImUrX
-/dev.slimevr.SlimeVR.metainfo.xml @ImUrX
-/.envrc @ImUrX
+*.nix @loucass003
+/flake.lock @loucass003
+/dev.slimevr.SlimeVR.metainfo.xml @loucass003
+/.envrc @loucass003

.github/workflows/build-gui.yml

@@ -21,13 +21,13 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
         with:
           submodules: recursive
 
       - uses: pnpm/action-setup@v4
       - name: Use Node.js
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v5
         with:
           node-version-file: '.node-version'
           cache: 'pnpm'
@@ -59,13 +59,13 @@ jobs:
       BUILD_ARCH: ${{ endsWith(matrix.os, 'arm') && 'aarch64' || 'amd64' }}
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
         with:
           submodules: recursive
 
       - if: startsWith(matrix.os, 'ubuntu')
         name: Set up Linux dependencies
-        uses: awalsh128/cache-apt-pkgs-action@v1.5.1
+        uses: awalsh128/cache-apt-pkgs-action@v1.5.3
         with:
           packages: libgtk-3-dev webkit2gtk-4.1 libappindicator3-dev librsvg2-dev patchelf
           # Increment to invalidate the cache
@@ -85,7 +85,7 @@ jobs:
 
       - uses: pnpm/action-setup@v4
       - name: Use Node.js
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v5
         with:
           node-version-file: '.node-version'
           cache: 'pnpm'

.github/workflows/generate-update-manifest.yml

@@ -12,7 +12,7 @@ jobs:
     runs-on: ubuntu-22.04
 
     steps:
-      - uses: actions/setup-node@v4
+      - uses: actions/setup-node@v5
         with:
           node-version: '22.x'
 

.github/workflows/gradle.yaml

@@ -19,7 +19,7 @@ jobs:
     runs-on: ${{ matrix.os }}
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
         with:
           submodules: recursive
 
@@ -27,7 +27,7 @@ jobs:
         run: git fetch --tags origin --recurse-submodules=no --force
 
       - name: Set up JDK 17
-        uses: actions/setup-java@v4
+        uses: actions/setup-java@v5
         with:
           java-version: '17'
           distribution: 'adopt'
@@ -48,7 +48,7 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
         with:
           submodules: recursive
 
@@ -56,7 +56,7 @@ jobs:
         run: git fetch --tags origin --recurse-submodules=no --force
 
       - name: Set up JDK 17
-        uses: actions/setup-java@v4
+        uses: actions/setup-java@v5
         with:
           java-version: '17'
           distribution: 'adopt'
@@ -87,7 +87,7 @@ jobs:
   bundle-android:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
         with:
           submodules: recursive
 
@@ -95,7 +95,7 @@ jobs:
         run: git fetch --tags origin --recurse-submodules=no --force
 
       - name: Set up JDK 17
-        uses: actions/setup-java@v4
+        uses: actions/setup-java@v5
         with:
           java-version: '17'
           distribution: 'adopt'
@@ -105,7 +105,7 @@ jobs:
 
       - uses: pnpm/action-setup@v4
       - name: Use Node.js
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v5
         with:
           node-version-file: '.node-version'
           cache: 'pnpm'
@@ -154,17 +154,17 @@ jobs:
     env:
       BUILD_ARCH: ${{ endsWith(matrix.os, 'arm') && 'aarch64' || 'amd64' }}
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
         with:
           submodules: recursive
 
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v5
         with:
           name: 'SlimeVR-Server'
           path: server/desktop/build/libs/
 
       - name: Set up Linux dependencies
-        uses: awalsh128/cache-apt-pkgs-action@v1.5.1
+        uses: awalsh128/cache-apt-pkgs-action@v1.5.3
         with:
           packages: |
             build-essential curl wget file libssl-dev libgtk-3-dev libappindicator3-dev librsvg2-dev
@@ -190,7 +190,7 @@ jobs:
 
       - uses: pnpm/action-setup@v4
       - name: Use Node.js
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v5
         with:
           node-version-file: '.node-version'
           cache: 'pnpm'
@@ -252,11 +252,11 @@ jobs:
     needs: [build, test]
     if: contains(fromJSON('["workflow_dispatch", "create"]'), github.event_name)
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
         with:
           submodules: recursive
 
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v5
         with:
           name: 'SlimeVR-Server'
           path: server/desktop/build/libs/
@@ -266,7 +266,7 @@ jobs:
 
       - uses: pnpm/action-setup@v4
       - name: Use Node.js
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v5
         with:
           node-version-file: '.node-version'
           cache: 'pnpm'
@@ -332,11 +332,11 @@ jobs:
     env:
       BUILD_ARCH: ${{ endsWith(matrix.os, 'arm') && 'win-aarch64' || 'win64' }}
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
         with:
           submodules: recursive
 
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v5
         with:
           name: 'SlimeVR-Server'
           path: server/desktop/build/libs/
@@ -351,7 +351,7 @@ jobs:
 
       - uses: pnpm/action-setup@v4
       - name: Use Node.js
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v5
         with:
           node-version-file: '.node-version'
           cache: 'pnpm'

.github/workflows/label.yml

@@ -17,6 +17,6 @@ jobs:
       pull-requests: write
 
     steps:
-    - uses: actions/labeler@v5
+    - uses: actions/labeler@v6
       with:
         repo-token: "${{ secrets.GITHUB_TOKEN }}"

.github/workflows/pontoon-pr.yml

@@ -12,7 +12,7 @@ jobs:
       pull-requests: write
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
         with:
           submodules: recursive
       - uses: repo-sync/pull-request@v2

.github/workflows/rebase.yml

@@ -15,7 +15,7 @@ jobs:
       contents: write
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
         with:
           ref: pontoon
           submodules: recursive

gui/public/i18n/en/translation.ftl

@@ -1125,6 +1125,7 @@ onboarding-automatic_mounting-preparation-v2-step-2 = 3. Hold the position until
 onboarding-automatic_mounting-put_trackers_on-title = Put on your trackers
 onboarding-automatic_mounting-put_trackers_on-description = To calibrate mounting orientations, we're gonna use the trackers you just assigned. Put on all your trackers, you can see which are which in the figure to the right.
 onboarding-automatic_mounting-put_trackers_on-next = I have all my trackers on
+onboarding-automatic_mounting-return-home = Done
 
 ## Tracker manual proportions setupa
 onboarding-manual_proportions-back = Go Back to Reset tutorial

gui/src-tauri/dev.slimevr.SlimeVR.metainfo.xml

@@ -65,6 +65,10 @@ work.  If not, see <http://creativecommons.org/publicdomain/zero/1.0/>.
   </provides>
 
   <releases>
+    <release version="0.16.2" date="2025-08-01"><url>https://github.com/SlimeVR/SlimeVR-Server/releases/tag/v0.16.2</url></release>
+    <release version="0.16.1" date="2025-07-27"><url>https://github.com/SlimeVR/SlimeVR-Server/releases/tag/v0.16.1</url></release>
+    <release version="0.16.1~rc.2" type="development" date="2025-07-17"><url>https://github.com/SlimeVR/SlimeVR-Server/releases/tag/v0.16.1-rc.2</url></release>
+    <release version="0.16.1~rc.1" type="development" date="2025-07-04"><url>https://github.com/SlimeVR/SlimeVR-Server/releases/tag/v0.16.1-rc.1</url></release>
     <release version="0.16.0" date="2025-07-01"><url>https://github.com/SlimeVR/SlimeVR-Server/releases/tag/v0.16.0</url></release>
     <release version="0.16.0~rc.2" type="development" date="2025-06-20"><url>https://github.com/SlimeVR/SlimeVR-Server/releases/tag/v0.16.0-rc.2</url></release>
     <release version="0.16.0~rc.1" type="development" date="2025-05-27"><url>https://github.com/SlimeVR/SlimeVR-Server/releases/tag/v0.16.0-rc.1</url></release>

gui/src/App.tsx

@@ -206,6 +206,11 @@ export default function App() {
   }, []);
 
   useEffect(() => {
+    // don't show update stuff when on android
+    if (window.__ANDROID__?.isThere()) {
+      setUpdateFound('');
+      return;
+    }
     async function fetchReleases() {
       const releases = await fetch(
         `https://api.github.com/repos/${GH_REPO}/releases`

gui/src/components/WidgetsComponent.tsx

@@ -66,9 +66,7 @@ export function WidgetsComponent() {
           bodyPartsToReset="fingers"
         ></ResetButton>
         <ClearMountingButton></ClearMountingButton>
-        {(typeof __ANDROID__ === 'undefined' || !__ANDROID__?.isThere()) && (
-          <BVHButton></BVHButton>
-        )}
+        {!window.__ANDROID__?.isThere() && <BVHButton></BVHButton>}
         <TrackingPauseButton></TrackingPauseButton>
       </div>
       <div className="w-full">

gui/src/components/commons/ArrowLink.tsx

@@ -28,7 +28,7 @@ export function ArrowLink({
     };
     return classNames(
       variantsMap[variant],
-      'flex gap-2 hover:fill-background-10 hover:text-background-10 fill-background-30 text-background-30'
+      'flex gap-2 hover:fill-background-10 fill-background-30 text-background-10'
     );
   }, [variant]);
 

gui/src/components/commons/Checkbox.tsx

@@ -53,7 +53,7 @@ export function CheckBox({
           className={classNames(
             {
               'rounded-lg': outlined,
-              'text-background-30': !outlined || disabled,
+              'text-background-10': !outlined || disabled,
               'bg-background-60': outlined && color === 'primary',
               'bg-background-70': outlined && color === 'secondary',
               'bg-background-50': outlined && color === 'tertiary',

gui/src/components/commons/FileInput.tsx

@@ -12,6 +12,8 @@ import { FileIcon } from './icon/FileIcon';
 import { UploadFileIcon } from './icon/UploadFileIcon';
 import { Typography } from './Typography';
 import { CloseIcon } from './icon/CloseIcon';
+import { FolderIcon } from './icon/FolderIcon';
+import { UploadFolderIcon } from './icon/UploadFolderIcon';
 
 interface InputProps {
   variant?: 'primary' | 'secondary';
@@ -22,9 +24,11 @@ interface InputProps {
 export const FileInputContentBlank = ({
   isDragging,
   label,
+  directory = false,
 }: {
   isDragging: boolean;
   label: string;
+  directory?: boolean;
 }) => {
   return (
     <div
@@ -36,7 +40,11 @@ export const FileInputContentBlank = ({
       )}
     >
       <span className="flex items-center space-x-2 pointer-events-none">
-        <UploadFileIcon isDragging={isDragging} />
+        {directory ? (
+          <UploadFolderIcon isDragging={isDragging} />
+        ) : (
+          <UploadFileIcon isDragging={isDragging} />
+        )}
         <div>
           <Localized
             id={label}
@@ -57,10 +65,12 @@ export const FileInputContentBlank = ({
 
 export const FileInputContentFile = ({
   importedFileName,
+  directory = false,
   onClearPicker,
 }: {
   importedFileName: string;
   onClearPicker: () => any;
+  directory?: boolean;
 }) => {
   return (
     <div
@@ -72,7 +82,7 @@ export const FileInputContentFile = ({
     >
       <div className="flex items-center space-x-2">
         <div className="flex items-center space-x-2 px-4">
-          <FileIcon />
+          {directory ? <FolderIcon /> : <FileIcon />}
           <span>{importedFileName}</span>
         </div>
         <span className="flex-grow"></span>

gui/src/components/commons/Input.tsx

@@ -47,19 +47,19 @@ export const InputInside = forwardRef<
   const classes = useMemo(() => {
     const variantsMap = {
       primary: classNames({
-        'placeholder:text-background-30 bg-background-60 border-background-60':
+        'placeholder:text-background-10 placeholder:italic bg-background-60 border-background-60':
           !disabled,
         'text-background-30 placeholder:text-background-30 border-background-70 bg-background-70':
           disabled,
       }),
       secondary: classNames({
-        'placeholder:text-background-30 bg-background-50 border-background-50':
+        'placeholder:text-background-10 placeholder:italic bg-background-50 border-background-50':
           !disabled,
         'text-background-40 placeholder:text-background-40 border-background-70 bg-background-70':
           disabled,
       }),
       tertiary: classNames({
-        'placeholder:text-background-30 bg-background-40 border-background-40':
+        'placeholder:text-background-10 placeholder:italic bg-background-40 border-background-40':
           !disabled,
         'text-background-30 placeholder:text-background-30 border-background-70 bg-background-70':
           disabled,

gui/src/components/commons/Radio.tsx

@@ -51,9 +51,7 @@ export function Radio({
           <div className="flex flex-col gap-2 pointer-events-none">
             {children ? children : <Typography bold>{label}</Typography>}
             {description && (
-              <Typography variant="standard" color="secondary">
-                {description}
-              </Typography>
+              <Typography variant="standard">{description}</Typography>
             )}
           </div>
         </label>

gui/src/components/commons/TauriFileInput.tsx

@@ -24,10 +24,11 @@ export function InnerTauriFileInput({
     <div ref={ref} onClick={async () => onChange(await open({ directory }))}>
       {value !== null
         ? FileInputContentFile({
+            directory,
             importedFileName: value,
             onClearPicker: () => onChange(null),
           })
-        : FileInputContentBlank({ isDragging: false, label })}
+        : FileInputContentBlank({ isDragging: false, label, directory })}
     </div>
   );
 }

gui/src/components/commons/icon/FolderIcon.tsx

@@ -0,0 +1,12 @@
+export function FolderIcon({ width = 24 }: { width?: number }) {
+  return (
+    <svg
+      xmlns="http://www.w3.org/2000/svg"
+      viewBox="0 0 24 24"
+      fill="currentColor"
+      width={width}
+    >
+      <path d="M19.5 21a3 3 0 0 0 3-3v-4.5a3 3 0 0 0-3-3h-15a3 3 0 0 0-3 3V18a3 3 0 0 0 3 3h15ZM1.5 10.146V6a3 3 0 0 1 3-3h5.379a2.25 2.25 0 0 1 1.59.659l2.122 2.121c.14.141.331.22.53.22H19.5a3 3 0 0 1 3 3v1.146A4.483 4.483 0 0 0 19.5 9h-15a4.483 4.483 0 0 0-3 1.146Z" />
+    </svg>
+  );
+}

gui/src/components/commons/icon/UploadFolderIcon.tsx

@@ -0,0 +1,25 @@
+import classNames from 'classnames';
+
+export function UploadFolderIcon({
+  width = 24,
+  isDragging = false,
+}: {
+  width?: number;
+  isDragging?: boolean;
+}) {
+  return (
+    <svg
+      xmlns="http://www.w3.org/2000/svg"
+      viewBox="0 0 5.5499997 4.7600007"
+      width={width}
+      fill="currentColor"
+      className={classNames('transition-transform', isDragging && 'scale-150')}
+    >
+      <path
+        fill-rule="evenodd"
+        d="m 4.76,4.76 c 0.44,0 0.79,-0.36 0.79,-0.79 v -2.39 c 0,-0.44 -0.36,-0.79 -0.79,-0.79 H 3.34 c -0.05,0 -0.1,-0.02 -0.14,-0.06 L 2.64,0.17 C 2.53,0.06 2.38,0 2.22,0 H 0.79 C 0.35,0 0,0.36 0,0.79 V 3.97 C 0,4.41 0.36,4.76 0.79,4.76 Z M 2.58,3.71 c 0,0.26 0.4,0.26 0.4,0 V 2.6 L 3.44,3.06 C 3.63,3.23 3.89,2.97 3.72,2.78 L 2.93,1.99 c -0.08,-0.08 -0.2,-0.08 -0.28,0 L 1.86,2.78 C 1.65,2.97 1.95,3.26 2.14,3.06 L 2.6,2.6 Z"
+        clip-rule="evenodd"
+      />
+    </svg>
+  );
+}

gui/src/components/firmware-tool/AddImusStep.tsx

@@ -240,7 +240,7 @@ export function AddImusStep({
     <>
       <div className="flex flex-col w-full">
         <div className="flex flex-col gap-4">
-          <Typography color="secondary">
+          <Typography>
             {l10n.getString('firmware_tool-add_imus_step-description')}
           </Typography>
         </div>
@@ -297,7 +297,7 @@ export function AddImusStep({
             <div className="flex justify-center flex-col items-center gap-3 h-44">
               <LoaderIcon slimeState={SlimeState.JUMPY}></LoaderIcon>
               <Localized id="firmware_tool-loading">
-                <Typography color="secondary"></Typography>
+                <Typography></Typography>
               </Localized>
             </div>
           )}

gui/src/components/firmware-tool/BoardPinsStep.tsx

@@ -53,7 +53,7 @@ export function BoardPinsStep({
     <>
       <div className="flex flex-col w-full justify-between text-background-10">
         <div className="flex flex-col gap-4">
-          <Typography color="secondary">
+          <Typography>
             {l10n.getString('firmware_tool-board_pins_step-description')}
           </Typography>
         </div>
@@ -172,7 +172,7 @@ export function BoardPinsStep({
             <div className="flex justify-center flex-col items-center gap-3 h-44">
               <LoaderIcon slimeState={SlimeState.JUMPY}></LoaderIcon>
               <Localized id="firmware_tool-loading">
-                <Typography color="secondary"></Typography>
+                <Typography></Typography>
               </Localized>
             </div>
           )}

gui/src/components/firmware-tool/BuildStep.tsx

@@ -68,7 +68,7 @@ export function BuildStep({
     <>
       <div className="flex flex-col w-full">
         <div className="flex flex-grow flex-col gap-4">
-          <Typography color="secondary">
+          <Typography>
             {l10n.getString('firmware_tool-build_step-description')}
           </Typography>
         </div>
@@ -82,7 +82,7 @@ export function BuildStep({
                     : SlimeState.SAD
                 }
               ></LoaderIcon>
-              <Typography variant="section-title" color="secondary">
+              <Typography variant="section-title">
                 {l10n.getString('firmware_tool-build-' + buildStatus.status)}
               </Typography>
             </div>
@@ -91,7 +91,7 @@ export function BuildStep({
             <div className="flex justify-center flex-col items-center gap-3 h-44">
               <LoaderIcon slimeState={SlimeState.JUMPY}></LoaderIcon>
               <Localized id="firmware_tool-loading">
-                <Typography color="secondary"></Typography>
+                <Typography></Typography>
               </Localized>
             </div>
           )}

gui/src/components/firmware-tool/FirmwareTool.tsx

@@ -85,9 +85,7 @@ function FirmwareToolContent() {
               .getString('firmware_tool-description')
               .split('\n')
               .map((line, i) => (
-                <Typography color="secondary" key={i}>
-                  {line}
-                </Typography>
+                <Typography key={i}>{line}</Typography>
               ))}
           </>
         </div>

gui/src/components/firmware-tool/FlashBtnStep.tsx

@@ -22,7 +22,7 @@ export function FlashBtnStep({
     <>
       <div className="flex flex-col w-full">
         <div className="flex flex-grow flex-col gap-4">
-          <Typography color="secondary">
+          <Typography>
             {l10n.getString('firmware_tool-flashbtn_step-description')}
           </Typography>
           {defaultConfig?.boardConfig.type ===

gui/src/components/firmware-tool/FlashingMethodStep.tsx

@@ -160,7 +160,7 @@ function SerialDevicesList({
       </Localized>
       {Object.keys(devices).length === 0 ? (
         <Localized id="firmware_tool-flash_method_serial-no_devices">
-          <Typography variant="standard" color="secondary"></Typography>
+          <Typography variant="standard"></Typography>
         </Localized>
       ) : (
         <Dropdown
@@ -274,7 +274,7 @@ function OTADevicesList({
       </Localized>
       {devices.length === 0 && (
         <Localized id="firmware_tool-flash_method_ota-no_devices">
-          <Typography color="secondary"></Typography>
+          <Typography></Typography>
         </Localized>
       )}
       <div className="grid xs-settings:grid-cols-2 mobile-settings:grid-cols-1 gap-2">
@@ -347,7 +347,7 @@ export function FlashingMethodStep({
     <>
       <div className="flex flex-col w-full">
         <div className="flex flex-grow flex-col gap-4">
-          <Typography color="secondary">
+          <Typography>
             {l10n.getString('firmware_tool-flash_method_step-description')}
           </Typography>
         </div>
@@ -416,7 +416,7 @@ export function FlashingMethodStep({
             <div className="flex justify-center flex-col items-center gap-3 h-44">
               <LoaderIcon slimeState={SlimeState.JUMPY}></LoaderIcon>
               <Localized id="firmware_tool-loading">
-                <Typography color="secondary"></Typography>
+                <Typography></Typography>
               </Localized>
             </div>
           )}

gui/src/components/firmware-tool/FlashingStep.tsx

@@ -164,7 +164,7 @@ export function FlashingStep({
     <>
       <div className="flex flex-col w-full">
         <div className="flex flex-grow flex-col gap-4">
-          <Typography color="secondary">
+          <Typography>
             {l10n.getString('firmware_tool-flashing_step-description')}
           </Typography>
         </div>

gui/src/components/firmware-tool/SelectBoardStep.tsx

@@ -27,7 +27,7 @@ export function SelectBoardStep({
     <>
       <div className="flex flex-col w-full">
         <div className="flex flex-grow flex-col gap-4">
-          <Typography color="secondary">
+          <Typography>
             {l10n.getString('firmware_tool-board_step-description')}
           </Typography>
         </div>
@@ -91,7 +91,7 @@ export function SelectBoardStep({
             <div className="flex justify-center flex-col items-center gap-3 h-44">
               <LoaderIcon slimeState={SlimeState.JUMPY}></LoaderIcon>
               <Localized id="firmware_tool-loading">
-                <Typography color="secondary"></Typography>
+                <Typography></Typography>
               </Localized>
             </div>
           )}

gui/src/components/firmware-tool/SelectFirmwareStep.tsx

@@ -40,7 +40,7 @@ export function SelectFirmwareStep({
     <>
       <div className="flex flex-col w-full">
         <div className="flex justify-between items-center mobile:flex-col gap-4">
-          <Typography color="secondary">
+          <Typography>
             {l10n.getString('firmware_tool-select_firmware_step-description')}
           </Typography>
           <div>
@@ -109,7 +109,7 @@ export function SelectFirmwareStep({
             <div className="flex justify-center flex-col items-center gap-3 h-44">
               <LoaderIcon slimeState={SlimeState.JUMPY}></LoaderIcon>
               <Localized id="firmware_tool-loading">
-                <Typography color="secondary"></Typography>
+                <Typography></Typography>
               </Localized>
             </div>
           )}

gui/src/components/firmware-update/FirmwareUpdate.tsx

@@ -320,7 +320,7 @@ export function FirmwareUpdate() {
               <Typography variant="section-title"></Typography>
             </Localized>
             <Localized id="firmware_update-devices-description">
-              <Typography variant="standard" color="secondary"></Typography>
+              <Typography variant="standard"></Typography>
             </Localized>
             <div className="flex flex-col gap-4 overflow-y-auto xs:max-h-[530px]">
               {devices.length === 0 &&

gui/src/components/onboarding/SkipSetupButton.tsx

@@ -28,8 +28,8 @@ export function SkipSetupButton({
     <button
       type="button"
       className={classNames(
-        'text-background-40 hover:text-background-30',
-        'stroke-background-40 hover:stroke-background-30',
+        'text-background-10 hover:text-background-20',
+        'stroke-background-10 hover:stroke-background-20',
         'absolute xs:-top-10 xs:right-4 mobile:top-0 mobile:right-0'
       )}
       onClick={onClick}

gui/src/components/onboarding/pages/CalibrationTutorial.tsx

@@ -132,9 +132,7 @@ export function CalibrationTutorialPage() {
                 id="onboarding-calibration_tutorial-description-v1"
                 elems={{ b: <b></b> }}
               >
-                <Typography color="secondary">
-                  Description on calibration of IMU
-                </Typography>
+                <Typography>Description on calibration of IMU</Typography>
               </Localized>
               <div>
                 <div className="xs:hidden flex flex-row justify-center">

gui/src/components/onboarding/pages/ConnectTracker.tsx

@@ -221,10 +221,10 @@ export function ConnectTrackersPage() {
           <Typography variant="main-title">
             {l10n.getString('onboarding-connect_tracker-title')}
           </Typography>
-          <Typography color="secondary">
+          <Typography>
             {l10n.getString('onboarding-connect_tracker-description-p0-v1')}
           </Typography>
-          <Typography color="secondary">
+          <Typography>
             {l10n.getString('onboarding-connect_tracker-description-p1-v1')}
           </Typography>
           <div className="flex flex-col gap-2 py-5">
@@ -281,7 +281,7 @@ export function ConnectTrackersPage() {
                 {l10n.getString('onboarding-connect_tracker-usb')}
               </Typography>
               <div className="flex fill-background-10 gap-1">
-                <Typography color="secondary">
+                <Typography>
                   {l10n.getString(statusLabelMap[provisioningStatus])}
                 </Typography>
               </div>
@@ -319,7 +319,7 @@ export function ConnectTrackersPage() {
           </div>
         </div>
         <div style={{ gridArea: 't' }} className="flex items-center px-5">
-          <Typography color="secondary" bold>
+          <Typography bold>
             {l10n.getString('onboarding-connect_tracker-connected_trackers', {
               amount: connectedIMUTrackers.length,
             })}

gui/src/components/onboarding/pages/Done.tsx

@@ -20,7 +20,7 @@ export function DonePage() {
           {l10n.getString('onboarding-done-title')}
         </Typography>
         <div className="flex flex-col items-center">
-          <Typography color="secondary">
+          <Typography>
             {l10n.getString('onboarding-done-description')}
           </Typography>
         </div>

gui/src/components/onboarding/pages/EnterVR.tsx

@@ -22,7 +22,7 @@ export function EnterVRPage() {
               <Typography variant="main-title">
                 {l10n.getString('onboarding-enter_vr-title')}
               </Typography>
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString('onboarding-enter_vr-description')}
               </Typography>
             </div>

gui/src/components/onboarding/pages/ResetTutorial.tsx

@@ -125,7 +125,7 @@ export function ResetTutorialPage() {
           <Typography variant="main-title">
             {l10n.getString('onboarding-reset_tutorial')}
           </Typography>
-          <Typography color="secondary">
+          <Typography>
             {l10n.getString('onboarding-reset_tutorial-explanation')}
           </Typography>
           <div className="flex">
@@ -165,7 +165,7 @@ export function ResetTutorialPage() {
               curIndex >= order.length && 'hidden'
             )}
           >
-            <Typography whitespace="whitespace-pre-line" color="secondary">
+            <Typography whitespace="whitespace-pre-line">
               {l10n.getString(`onboarding-reset_tutorial-${curIndex}`, {
                 taps: tapSettings[curIndex],
               })}
@@ -184,7 +184,7 @@ export function ResetTutorialPage() {
               curIndex >= order.length && 'hidden'
             )}
           >
-            <Typography whitespace="whitespace-pre-line" color="secondary">
+            <Typography whitespace="whitespace-pre-line">
               {l10n.getString(`onboarding-reset_tutorial-${curIndex}`, {
                 taps: tapSettings[curIndex],
               })}

gui/src/components/onboarding/pages/WifiCreds.tsx

@@ -35,9 +35,7 @@ export function WifiCredsPage() {
                 .getString('onboarding-wifi_creds-description')
                 .split('\n')
                 .map((line, i) => (
-                  <Typography color="secondary" key={i}>
-                    {line}
-                  </Typography>
+                  <Typography key={i}>{line}</Typography>
                 ))}
             </>
             {!state.alonePage && (

gui/src/components/onboarding/pages/body-proportions/AutomaticProportions.tsx

@@ -32,7 +32,7 @@ export function AutomaticProportionsPage() {
                 {l10n.getString('onboarding-automatic_proportions-title')}
               </Typography>
               <div>
-                <Typography color="secondary">
+                <Typography>
                   {l10n.getString(
                     'onboarding-automatic_proportions-description'
                   )}

gui/src/components/onboarding/pages/body-proportions/ScaledProportions.tsx

@@ -52,7 +52,7 @@ export function ScaledProportionsPage() {
               {l10n.getString('onboarding-scaled_proportions-title')}
             </Typography>
             <div>
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString('onboarding-scaled_proportions-description')}
               </Typography>
             </div>

gui/src/components/onboarding/pages/body-proportions/autobone-steps/CheckFloorHeight.tsx

@@ -72,7 +72,7 @@ export function CheckFloorHeightStep({
               )}
             </Typography>
             <div>
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString(
                   'onboarding-automatic_proportions-check_floor_height-description'
                 )}
@@ -81,7 +81,7 @@ export function CheckFloorHeightStep({
                 id="onboarding-automatic_proportions-check_floor_height-calculation_warning-v2"
                 elems={{ u: <span className="underline"></span> }}
               >
-                <Typography color="secondary" bold>
+                <Typography bold>
                   Press the button to get your height!
                 </Typography>
               </Localized>

gui/src/components/onboarding/pages/body-proportions/autobone-steps/CheckHeight.tsx

@@ -60,7 +60,7 @@ export function CheckHeightStep({
               )}
             </Typography>
             <div>
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString(
                   'onboarding-automatic_proportions-check_height-description-v2'
                 )}
@@ -69,7 +69,7 @@ export function CheckHeightStep({
                 id="onboarding-automatic_proportions-check_height-calculation_warning-v3"
                 elems={{ u: <span className="underline"></span> }}
               >
-                <Typography color="secondary" bold>
+                <Typography bold>
                   Press the button to get your height!
                 </Typography>
               </Localized>

gui/src/components/onboarding/pages/body-proportions/autobone-steps/Done.tsx

@@ -12,7 +12,7 @@ export function DoneStep({ variant }: { variant: 'onboarding' | 'alone' }) {
         <Typography variant="section-title">
           {l10n.getString('onboarding-automatic_proportions-done-title')}
         </Typography>
-        <Typography color="secondary">
+        <Typography>
           {l10n.getString('onboarding-automatic_proportions-done-description')}
         </Typography>
       </div>

gui/src/components/onboarding/pages/body-proportions/autobone-steps/Preparation.tsx

@@ -26,13 +26,13 @@ export function PreparationStep({
           </Typography>
           <div>
             <Localized id="onboarding-automatic_mounting-preparation-v2-step-0">
-              <Typography color="secondary"></Typography>
+              <Typography></Typography>
             </Localized>
             <Localized id="onboarding-automatic_mounting-preparation-v2-step-1">
-              <Typography color="secondary"></Typography>
+              <Typography></Typography>
             </Localized>
             <Localized id="onboarding-automatic_mounting-preparation-v2-step-2">
-              <Typography color="secondary"></Typography>
+              <Typography></Typography>
             </Localized>
           </div>
         </div>

gui/src/components/onboarding/pages/body-proportions/autobone-steps/PutTrackersOn.tsx

@@ -28,7 +28,7 @@ export function PutTrackersOnStep({
             )}
           </Typography>
           <div>
-            <Typography color="secondary">
+            <Typography>
               {l10n.getString(
                 'onboarding-automatic_proportions-put_trackers_on-description'
               )}

gui/src/components/onboarding/pages/body-proportions/autobone-steps/Recording.tsx

@@ -97,7 +97,7 @@ export function Recording({
               'onboarding-automatic_proportions-recording-description-p0'
             )}
           </Typography>
-          <Typography color="secondary">
+          <Typography>
             {l10n.getString(
               'onboarding-automatic_proportions-recording-description-p1'
             )}
@@ -110,7 +110,7 @@ export function Recording({
               .split('\n')
               .map((line, i) => (
                 <li key={i}>
-                  <Typography color="secondary">{line}</Typography>
+                  <Typography>{line}</Typography>
                 </li>
               ))}
           </>
@@ -137,7 +137,7 @@ export function Recording({
               )
               .otherwise(() => undefined)}
           ></ProgressBar>
-          <Typography color="secondary">
+          <Typography>
             {match([hasCalibration, hasRecording])
               .returnType<ReactNode>()
               .with([ProcessStatus.PENDING, ProcessStatus.FULFILLED], () =>

gui/src/components/onboarding/pages/body-proportions/autobone-steps/Requirements.tsx

@@ -31,7 +31,7 @@ export function RequirementsStep({
                 .split('\n')
                 .map((line, i) => (
                   <li key={i}>
-                    <Typography color="secondary">{line}</Typography>
+                    <Typography>{line}</Typography>
                   </li>
                 ))}
             </>

gui/src/components/onboarding/pages/body-proportions/autobone-steps/StartRecording.tsx

@@ -63,7 +63,7 @@ export function StartRecording({
               )}
             </Typography>
             <div>
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString(
                   'onboarding-automatic_proportions-start_recording-description'
                 )}
@@ -76,7 +76,7 @@ export function StartRecording({
                   .split('\n')
                   .map((line, i) => (
                     <li key={i}>
-                      <Typography color="secondary">{line}</Typography>
+                      <Typography>{line}</Typography>
                     </li>
                   ))}
               </>

gui/src/components/onboarding/pages/body-proportions/autobone-steps/VerifyResults.tsx

@@ -42,7 +42,7 @@ export function VerifyResultsStep({
             )}
           </Typography>
           <div>
-            <Typography color="secondary">
+            <Typography>
               {l10n.getString(
                 'onboarding-automatic_proportions-verify_results-description'
               )}
@@ -65,7 +65,7 @@ export function VerifyResultsStep({
             >
               {bodyParts?.map(({ bone, label, value }) => (
                 <div className="flex justify-between" key={bone}>
-                  <Typography color="secondary">{label}</Typography>
+                  <Typography>{label}</Typography>
                   <Typography bold sentryMask>
                     {(value * 100).toFixed(2)} CM
                   </Typography>

gui/src/components/onboarding/pages/body-proportions/scaled-steps/Done.tsx

@@ -12,7 +12,7 @@ export function DoneStep({ variant }: { variant: 'onboarding' | 'alone' }) {
         <Typography variant="section-title">
           {l10n.getString('onboarding-scaled_proportions-done-title')}
         </Typography>
-        <Typography color="secondary">
+        <Typography>
           {l10n.getString('onboarding-scaled_proportions-done-description')}
         </Typography>
       </div>

gui/src/components/onboarding/pages/body-proportions/scaled-steps/ManualHeightStep.tsx

@@ -90,7 +90,7 @@ export function ManualHeightStep({
             )}
           </Typography>
           <div>
-            <Typography color="secondary">
+            <Typography>
               {l10n.getString(
                 'onboarding-scaled_proportions-manual_height-description-v2'
               )}

gui/src/components/onboarding/pages/body-proportions/scaled-steps/ResetProportions.tsx

@@ -26,7 +26,7 @@ export function ResetProportionsStep({
             )}
           </Typography>
           <div>
-            <Typography color="secondary">
+            <Typography>
               {l10n.getString(
                 'onboarding-scaled_proportions-reset_proportion-description'
               )}

gui/src/components/onboarding/pages/mounting/AutomaticMounting.tsx

@@ -33,7 +33,7 @@ export function AutomaticMountingPage() {
             <Typography variant="main-title">
               {l10n.getString('onboarding-automatic_mounting-title')}
             </Typography>
-            <Typography color="secondary">
+            <Typography>
               {l10n.getString('onboarding-automatic_mounting-description')}
             </Typography>
           </div>

gui/src/components/onboarding/pages/mounting/ManualMounting.tsx

@@ -99,7 +99,7 @@ export function ManualMountingPage() {
             <Typography variant="main-title">
               {l10n.getString('onboarding-manual_mounting')}
             </Typography>
-            <Typography color="secondary">
+            <Typography>
               {l10n.getString('onboarding-manual_mounting-description')}
             </Typography>
             <TipBox>{l10n.getString('tips-find_tracker')}</TipBox>

gui/src/components/onboarding/pages/mounting/MountingChoose.tsx

@@ -17,16 +17,12 @@ export function MountingChoose() {
   return (
     <>
       <div className="flex flex-col gap-5 h-full items-center w-full xs:justify-center relative overflow-y-auto px-4 pb-4">
-        <div className="flex flex-col gap-4 justify-center">
+        <div className="flex flex-col gap-8 justify-center">
           <div className="xs:w-10/12 xs:max-w-[666px]">
             <Typography variant="main-title">
               {l10n.getString('onboarding-choose_mounting')}
             </Typography>
-            <Typography
-              variant="standard"
-              color="secondary"
-              whitespace="whitespace-pre-line"
-            >
+            <Typography variant="standard" whitespace="whitespace-pre-line">
               {l10n.getString('onboarding-choose_mounting-description')}
             </Typography>
           </div>
@@ -37,12 +33,19 @@ export function MountingChoose() {
           >
             <div
               className={classNames(
-                'rounded-lg p-4 flex',
+                'rounded-lg p-4 flex relative',
                 !state.alonePage && 'bg-background-70',
                 state.alonePage && 'bg-background-60'
               )}
             >
-              <div className="flex flex-col gap-4">
+              <div className="bg-accent-background-30 absolute -left-4 -top-5 p-1.5 rounded-lg">
+                <Typography variant="vr-accessible" italic>
+                  {l10n.getString(
+                    'onboarding-choose_mounting-auto_mounting-label-v2'
+                  )}
+                </Typography>
+              </div>
+              <div className="flex flex-col gap-4 ">
                 <div className="flex flex-grow flex-col gap-4 max-w-sm">
                   <div>
                     <Typography variant="main-title" bold>
@@ -50,14 +53,9 @@ export function MountingChoose() {
                         'onboarding-choose_mounting-auto_mounting'
                       )}
                     </Typography>
-                    <Typography variant="vr-accessible" italic>
-                      {l10n.getString(
-                        'onboarding-choose_mounting-auto_mounting-label-v2'
-                      )}
-                    </Typography>
                   </div>
                   <div>
-                    <Typography color="secondary">
+                    <Typography>
                       {l10n.getString(
                         'onboarding-choose_mounting-auto_mounting-description'
                       )}
@@ -98,14 +96,9 @@ export function MountingChoose() {
                         'onboarding-choose_mounting-manual_mounting'
                       )}
                     </Typography>
-                    <Typography variant="vr-accessible" italic>
-                      {l10n.getString(
-                        'onboarding-choose_mounting-manual_mounting-label-v2'
-                      )}
-                    </Typography>
                   </div>
                   <div>
-                    <Typography color="secondary">
+                    <Typography>
                       {l10n.getString(
                         'onboarding-choose_mounting-manual_mounting-description'
                       )}

gui/src/components/onboarding/pages/mounting/mounting-steps/Done.tsx

@@ -20,7 +20,7 @@ export function DoneStep({
         <Typography variant="section-title">
           {l10n.getString('onboarding-automatic_mounting-done-title')}
         </Typography>
-        <Typography color="secondary">
+        <Typography>
           {l10n.getString('onboarding-automatic_mounting-done-description')}
         </Typography>
       </div>
@@ -38,6 +38,11 @@ export function DoneStep({
             {l10n.getString('onboarding-automatic_mounting-next')}
           </Button>
         )}
+        {variant === 'alone' && (
+          <Button className="flex gap-3" variant="primary" to="/">
+            {l10n.getString('onboarding-automatic_mounting-return-home')}
+          </Button>
+        )}
       </div>
 
       <SkeletonVisualizerWidget />

gui/src/components/onboarding/pages/mounting/mounting-steps/MountingReset.tsx

@@ -27,12 +27,12 @@ export function MountingResetStep({
             )}
           </Typography>
           <div className="flex flex-col gap-2">
-            <Typography color="secondary">
+            <Typography>
               {l10n.getString(
                 'onboarding-automatic_mounting-mounting_reset-step-0'
               )}
             </Typography>
-            <Typography color="secondary">
+            <Typography>
               {l10n.getString(
                 'onboarding-automatic_mounting-mounting_reset-step-1'
               )}

gui/src/components/onboarding/pages/mounting/mounting-steps/Preparation.tsx

@@ -26,13 +26,13 @@ export function PreparationStep({
           </Typography>
           <div>
             <Localized id="onboarding-automatic_mounting-preparation-v2-step-0">
-              <Typography color="secondary"></Typography>
+              <Typography></Typography>
             </Localized>
             <Localized id="onboarding-automatic_mounting-preparation-v2-step-1">
-              <Typography color="secondary"></Typography>
+              <Typography></Typography>
             </Localized>
             <Localized id="onboarding-automatic_mounting-preparation-v2-step-2">
-              <Typography color="secondary"></Typography>
+              <Typography></Typography>
             </Localized>
           </div>
         </div>

gui/src/components/onboarding/pages/mounting/mounting-steps/PutTrackersOn.tsx

@@ -28,7 +28,7 @@ export function PutTrackersOnStep({
             )}
           </Typography>
           <div>
-            <Typography color="secondary">
+            <Typography>
               {l10n.getString(
                 'onboarding-automatic_mounting-put_trackers_on-description'
               )}

gui/src/components/onboarding/pages/stay-aligned/StayAlignedSetup.tsx

@@ -136,7 +136,7 @@ export function StayAlignedSetup() {
           <Typography variant="main-title">
             {l10n.getString('onboarding-stay_aligned-title')}
           </Typography>
-          <Typography color="secondary">
+          <Typography>
             {l10n.getString('onboarding-stay_aligned-description')}
           </Typography>
         </div>

gui/src/components/onboarding/pages/stay-aligned/stay-aligned-steps/Done.tsx

@@ -11,7 +11,7 @@ export function DoneStep({ goTo }: VerticalStepComponentProps) {
           <Typography variant="main-title"></Typography>
         </Localized>
         <Localized id="onboarding-stay_aligned-done-description-2">
-          <Typography color="secondary"></Typography>
+          <Typography></Typography>
         </Localized>
       </div>
       <div className="flex gap-3 justify-between">

gui/src/components/onboarding/pages/stay-aligned/stay-aligned-steps/PreparationStep.tsx

@@ -16,13 +16,13 @@ export function PreparationStep({
     <div className="flex flex-col flex-grow justify-between py-2 gap-2">
       <div className="flex flex-col gap-1">
         <Localized id="onboarding-automatic_mounting-preparation-v2-step-0">
-          <Typography color="secondary"></Typography>
+          <Typography></Typography>
         </Localized>
         <Localized id="onboarding-automatic_mounting-preparation-v2-step-1">
-          <Typography color="secondary"></Typography>
+          <Typography></Typography>
         </Localized>
         <Localized id="onboarding-automatic_mounting-preparation-v2-step-2">
-          <Typography color="secondary"></Typography>
+          <Typography></Typography>
         </Localized>
       </div>
       <Localized id="onboarding-stay_aligned-preparation-tip">

gui/src/components/onboarding/pages/stay-aligned/stay-aligned-steps/PutTrackersOnStep.tsx

@@ -19,7 +19,7 @@ export function PutTrackersOnStep({ nextStep }: VerticalStepComponentProps) {
         <div className="flex flex-grow flex-col gap-4">
           <div>
             <Localized id="onboarding-stay_aligned-put_trackers_on-description">
-              <Typography color="secondary"></Typography>
+              <Typography></Typography>
             </Localized>
           </div>
           <div className="flex">

gui/src/components/onboarding/pages/stay-aligned/stay-aligned-steps/RelaxedPoseSteps.tsx

@@ -30,9 +30,7 @@ function PosePage({
     <div className="flex flex-col py-2">
       <div className="flex flex-col gap-2">
         {descriptionKeys.map((descriptionKey) => (
-          <Typography color="secondary">
-            {l10n.getString(descriptionKey)}
-          </Typography>
+          <Typography>{l10n.getString(descriptionKey)}</Typography>
         ))}
       </div>
       <div className="flex pt-1 items-center fill-background-50 justify-center px-12">

gui/src/components/onboarding/pages/stay-aligned/stay-aligned-steps/VerifyMounting.tsx

@@ -11,16 +11,16 @@ export function VerifyMountingStep({
     <div className="flex flex-grow flex-col gap-4 py-2">
       <div className="flex flex-col gap-2">
         <Localized id="onboarding-stay_aligned-verify_mounting-step-0">
-          <Typography color="secondary" />
+          <Typography />
         </Localized>
         <Localized id="onboarding-stay_aligned-verify_mounting-step-1">
-          <Typography color="secondary" />
+          <Typography />
         </Localized>
         <Localized id="onboarding-stay_aligned-verify_mounting-step-2">
-          <Typography color="secondary" />
+          <Typography />
         </Localized>
         <Localized id="onboarding-stay_aligned-verify_mounting-step-3">
-          <Typography color="secondary" />
+          <Typography />
         </Localized>
       </div>
       <div className="flex gap-3 justify-between">

gui/src/components/onboarding/pages/trackers-assign/TrackerAssignOptions.tsx

@@ -43,7 +43,7 @@ const ItemContent = ({
             mode,
           })}
         </Typography>
-        <Typography variant="standard" color="secondary">
+        <Typography variant="standard">
           {l10n.getString('onboarding-assign_trackers-option-description', {
             mode,
           })}

gui/src/components/onboarding/pages/trackers-assign/TrackerAssignment.tsx

@@ -284,11 +284,11 @@ export function TrackersAssignPage() {
               <Typography variant="main-title">
                 {l10n.getString('onboarding-assign_trackers-title')}
               </Typography>
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString('onboarding-assign_trackers-description')}
               </Typography>
               <div className="flex gap-1">
-                <Typography color="secondary">
+                <Typography>
                   {l10n.getString('onboarding-assign_trackers-assigned', {
                     assigned: assignedTrackers.length,
                     trackers: trackers.length,

gui/src/components/settings/pages/AdvancedSettings.tsx

@@ -63,11 +63,11 @@ export function AdvancedSettings() {
             <div className="grid gap-4">
               <div className="sm:grid sm:grid-cols-[1.75fr,_1fr] items-center">
                 <div>
-                  <Typography bold>
+                  <Typography variant="section-title">
                     {l10n.getString('settings-utils-advanced-reset-gui')}
                   </Typography>
                   <div className="flex flex-col">
-                    <Typography color="secondary">
+                    <Typography>
                       {l10n.getString(
                         'settings-utils-advanced-reset-gui-description'
                       )}
@@ -95,11 +95,11 @@ export function AdvancedSettings() {
 
               <div className="sm:grid sm:grid-cols-[1.75fr,_1fr] items-center">
                 <div>
-                  <Typography bold>
+                  <Typography variant="section-title">
                     {l10n.getString('settings-utils-advanced-reset-server')}
                   </Typography>
                   <div className="flex flex-col">
-                    <Typography color="secondary">
+                    <Typography>
                       {l10n.getString(
                         'settings-utils-advanced-reset-server-description'
                       )}
@@ -132,11 +132,11 @@ export function AdvancedSettings() {
 
               <div className="sm:grid sm:grid-cols-[1.75fr,_1fr] items-center">
                 <div>
-                  <Typography bold>
+                  <Typography variant="section-title">
                     {l10n.getString('settings-utils-advanced-reset-all')}
                   </Typography>
                   <div className="flex flex-col">
-                    <Typography color="secondary">
+                    <Typography>
                       {l10n.getString(
                         'settings-utils-advanced-reset-all-description'
                       )}
@@ -168,11 +168,11 @@ export function AdvancedSettings() {
 
               <div className="sm:grid sm:grid-cols-[1.75fr,_1fr] items-center">
                 <div>
-                  <Typography bold>
+                  <Typography variant="section-title">
                     {l10n.getString('settings-utils-advanced-open_data-v1')}
                   </Typography>
                   <div className="flex flex-col">
-                    <Typography color="secondary">
+                    <Typography>
                       {l10n.getString(
                         'settings-utils-advanced-open_data-description-v1'
                       )}
@@ -188,11 +188,11 @@ export function AdvancedSettings() {
 
               <div className="sm:grid sm:grid-cols-[1.75fr,_1fr] items-center">
                 <div>
-                  <Typography bold>
+                  <Typography variant="section-title">
                     {l10n.getString('settings-utils-advanced-open_logs')}
                   </Typography>
                   <div className="flex flex-col">
-                    <Typography color="secondary">
+                    <Typography>
                       {l10n.getString(
                         'settings-utils-advanced-open_logs-description'
                       )}

gui/src/components/settings/pages/GeneralSettings.tsx

@@ -459,7 +459,7 @@ export function GeneralSettings() {
             <Typography variant="main-title">
               {l10n.getString('settings-general-steamvr')}
             </Typography>
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString('settings-general-steamvr-subtitle')}
             </Typography>
             <div className="flex flex-col py-2">
@@ -467,13 +467,11 @@ export function GeneralSettings() {
                 .getString('settings-general-steamvr-description')
                 .split('\n')
                 .map((line, i) => (
-                  <Typography color="secondary" key={i}>
-                    {line}
-                  </Typography>
+                  <Typography key={i}>{line}</Typography>
                 ))}
             </div>
             <div className="flex flex-col pt-4"></div>
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString(
                 'settings-general-steamvr-trackers-tracker_toggling'
               )}
@@ -485,9 +483,7 @@ export function GeneralSettings() {
                 )
                 .split('\n')
                 .map((line, i) => (
-                  <Typography color="secondary" key={i}>
-                    {line}
-                  </Typography>
+                  <Typography key={i}>{line}</Typography>
                 ))}
             </div>
             <CheckBox
@@ -608,7 +604,7 @@ export function GeneralSettings() {
             <Typography variant="main-title">
               {l10n.getString('settings-general-tracker_mechanics')}
             </Typography>
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString('settings-general-tracker_mechanics-filtering')}
             </Typography>
             <div className="flex flex-col pt-2 pb-4">
@@ -618,9 +614,7 @@ export function GeneralSettings() {
                 )
                 .split('\n')
                 .map((line, i) => (
-                  <Typography color="secondary" key={i}>
-                    {line}
-                  </Typography>
+                  <Typography key={i}>{line}</Typography>
                 ))}
             </div>
             <Typography>
@@ -690,7 +684,7 @@ export function GeneralSettings() {
               />
             </div>
             <div className="flex flex-col pt-5 pb-3">
-              <Typography bold>
+              <Typography variant="section-title">
                 {l10n.getString(
                   'settings-general-tracker_mechanics-save_mounting_reset'
                 )}
@@ -699,7 +693,7 @@ export function GeneralSettings() {
                 id="settings-general-tracker_mechanics-save_mounting_reset-description"
                 elems={{ b: <b></b> }}
               >
-                <Typography color="secondary"></Typography>
+                <Typography></Typography>
               </Localized>
             </div>
             <CheckBox
@@ -725,19 +719,19 @@ export function GeneralSettings() {
             <Typography variant="main-title">
               {l10n.getString('settings-general-fk_settings')}
             </Typography>
-            <div className="flex flex-col pt-2 pb-4">
-              <Typography bold>
+            <div className="flex flex-col pt-2 pb-4 gap-2">
+              <Typography variant="section-title">
                 {l10n.getString(
                   'settings-general-fk_settings-leg_tweak-skating_correction'
                 )}
               </Typography>
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString(
                   'settings-general-fk_settings-leg_tweak-skating_correction-description'
                 )}
               </Typography>
             </div>
-            <div className="grid sm:grid-cols-1 gap-3 pb-4">
+            <div className="grid sm:grid-cols-1 gap-2 pb-4">
               <CheckBox
                 variant="toggle"
                 outlined
@@ -761,18 +755,18 @@ export function GeneralSettings() {
             </div>
 
             <div className="flex flex-col pt-2 pb-2">
-              <Typography bold>
+              <Typography variant="section-title">
                 {l10n.getString('settings-general-fk_settings-leg_fk')}
               </Typography>
             </div>
             <div className="grid sm:grid-cols-1 gap-3 pb-3">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString(
                   'settings-general-fk_settings-leg_tweak-floor_clip-description'
                 )}
               </Typography>
             </div>
-            <div className="grid sm:grid-cols-1 gap-3 pb-3">
+            <div className="grid sm:grid-cols-1 gap-2 pb-3">
               <CheckBox
                 variant="toggle"
                 outlined
@@ -784,7 +778,7 @@ export function GeneralSettings() {
               />
             </div>
             <div className="flex flex-col pt-2 pb-3">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString(
                   'settings-general-fk_settings-leg_tweak-foot_plant-description'
                 )}
@@ -802,7 +796,7 @@ export function GeneralSettings() {
               />
             </div>
             <div className="flex flex-col pt-2 pb-3">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString(
                   'settings-general-fk_settings-leg_tweak-toe_snap-description'
                 )}
@@ -821,10 +815,10 @@ export function GeneralSettings() {
             </div>
 
             <div className="flex flex-col pt-2 pb-3">
-              <Typography bold>
+              <Typography variant="section-title">
                 {l10n.getString('settings-general-fk_settings-arm_fk')}
               </Typography>
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString(
                   'settings-general-fk_settings-arm_fk-description'
                 )}
@@ -843,110 +837,114 @@ export function GeneralSettings() {
             </div>
 
             <div className="flex flex-col pt-2">
-              <Typography bold>
+              <Typography variant="section-title">
                 {l10n.getString('settings-general-fk_settings-reset_settings')}
               </Typography>
             </div>
             <div className="flex flex-col pt-2 pb-3">
-              <Typography color="secondary">
-                {l10n.getString(
-                  'settings-general-fk_settings-reset_settings-reset_hmd_pitch-description'
-                )}
-              </Typography>
-            </div>
-            <div className="grid sm:grid-cols-1 gap-3 pb-3">
-              <CheckBox
-                variant="toggle"
-                outlined
-                control={control}
-                name="resetsSettings.resetHmdPitch"
-                label={l10n.getString(
-                  'settings-general-fk_settings-reset_settings-reset_hmd_pitch'
-                )}
-              />
-            </div>
-            <div className="flex flex-col pt-2 pb-3">
-              <Typography color="secondary">
-                {l10n.getString(
-                  'settings-general-fk_settings-leg_fk-reset_mounting_feet-description-v1'
-                )}
-              </Typography>
-            </div>
-            <div className="grid sm:grid-cols-1 gap-3 pb-3">
-              <CheckBox
-                variant="toggle"
-                outlined
-                control={control}
-                name="resetsSettings.resetMountingFeet"
-                label={l10n.getString(
-                  'settings-general-fk_settings-leg_fk-reset_mounting_feet-v1'
-                )}
-              />
+              <div className="grid grid-cols-2 gap-2">
+                <div className="flex flex-col gap-2">
+                  <Typography>
+                    {l10n.getString(
+                      'settings-general-fk_settings-reset_settings-reset_hmd_pitch-description'
+                    )}
+                  </Typography>
+                  <CheckBox
+                    variant="toggle"
+                    outlined
+                    control={control}
+                    name="resetsSettings.resetHmdPitch"
+                    label={l10n.getString(
+                      'settings-general-fk_settings-reset_settings-reset_hmd_pitch'
+                    )}
+                  />
+                </div>
+                <div className="flex flex-col gap-2 justify-end">
+                  <Typography>
+                    {l10n.getString(
+                      'settings-general-fk_settings-leg_fk-reset_mounting_feet-description-v1'
+                    )}
+                  </Typography>
+                  <CheckBox
+                    variant="toggle"
+                    outlined
+                    control={control}
+                    name="resetsSettings.resetMountingFeet"
+                    label={l10n.getString(
+                      'settings-general-fk_settings-leg_fk-reset_mounting_feet-v1'
+                    )}
+                  />
+                </div>
+              </div>
             </div>
 
-            <Typography color="secondary">
-              {l10n.getString(
-                'settings-general-fk_settings-arm_fk-reset_mode-description'
-              )}
-            </Typography>
-            <div className="grid md:grid-cols-2 flex-col gap-3 pt-2 pb-3">
-              <Radio
-                control={control}
-                name="resetsSettings.armsMountingResetMode"
-                label={l10n.getString(
-                  'settings-general-fk_settings-arm_fk-back'
+            <div>
+              <Typography>
+                {l10n.getString(
+                  'settings-general-fk_settings-arm_fk-reset_mode-description'
                 )}
-                description={l10n.getString(
-                  'settings-general-fk_settings-arm_fk-back-description'
-                )}
-                value={'0'}
-              ></Radio>
-              <Radio
-                control={control}
-                name="resetsSettings.armsMountingResetMode"
-                label={l10n.getString(
-                  'settings-general-fk_settings-arm_fk-forward'
-                )}
-                description={l10n.getString(
-                  'settings-general-fk_settings-arm_fk-forward-description'
-                )}
-                value={'1'}
-              ></Radio>
-              <Radio
-                control={control}
-                name="resetsSettings.armsMountingResetMode"
-                label={l10n.getString(
-                  'settings-general-fk_settings-arm_fk-tpose_up'
-                )}
-                description={l10n.getString(
-                  'settings-general-fk_settings-arm_fk-tpose_up-description'
-                )}
-                value={'2'}
-              ></Radio>
-              <Radio
-                control={control}
-                name="resetsSettings.armsMountingResetMode"
-                label={l10n.getString(
-                  'settings-general-fk_settings-arm_fk-tpose_down'
-                )}
-                description={l10n.getString(
-                  'settings-general-fk_settings-arm_fk-tpose_down-description'
-                )}
-                value={'3'}
-              ></Radio>
+              </Typography>
+              <div className="grid md:grid-cols-2 flex-col gap-3 pt-2 pb-3">
+                <Radio
+                  control={control}
+                  name="resetsSettings.armsMountingResetMode"
+                  label={l10n.getString(
+                    'settings-general-fk_settings-arm_fk-back'
+                  )}
+                  description={l10n.getString(
+                    'settings-general-fk_settings-arm_fk-back-description'
+                  )}
+                  value={'0'}
+                ></Radio>
+                <Radio
+                  control={control}
+                  name="resetsSettings.armsMountingResetMode"
+                  label={l10n.getString(
+                    'settings-general-fk_settings-arm_fk-forward'
+                  )}
+                  description={l10n.getString(
+                    'settings-general-fk_settings-arm_fk-forward-description'
+                  )}
+                  value={'1'}
+                ></Radio>
+                <Radio
+                  control={control}
+                  name="resetsSettings.armsMountingResetMode"
+                  label={l10n.getString(
+                    'settings-general-fk_settings-arm_fk-tpose_up'
+                  )}
+                  description={l10n.getString(
+                    'settings-general-fk_settings-arm_fk-tpose_up-description'
+                  )}
+                  value={'2'}
+                ></Radio>
+                <Radio
+                  control={control}
+                  name="resetsSettings.armsMountingResetMode"
+                  label={l10n.getString(
+                    'settings-general-fk_settings-arm_fk-tpose_down'
+                  )}
+                  description={l10n.getString(
+                    'settings-general-fk_settings-arm_fk-tpose_down-description'
+                  )}
+                  value={'3'}
+                ></Radio>
+              </div>
             </div>
 
-            <div className="flex flex-col pt-2 pb-3">
-              <Typography bold>
+            <div className="flex flex-col pt-2 pb-1">
+              <Typography variant="section-title">
                 {l10n.getString(
                   'settings-general-fk_settings-enforce_joint_constraints'
                 )}
               </Typography>
-              <Typography color="secondary">
-                {l10n.getString(
-                  'settings-general-fk_settings-enforce_joint_constraints-enforce_constraints-description'
-                )}
-              </Typography>
+              <div className="pt-2">
+                <Typography>
+                  {l10n.getString(
+                    'settings-general-fk_settings-enforce_joint_constraints-enforce_constraints-description'
+                  )}
+                </Typography>
+              </div>
             </div>
             <div className="grid sm:grid-cols-1 pb-3">
               <CheckBox
@@ -963,12 +961,12 @@ export function GeneralSettings() {
             {config?.debug && (
               <>
                 <div className="flex flex-col pt-2 pb-3">
-                  <Typography bold>
+                  <Typography variant="section-title">
                     {l10n.getString(
                       'settings-general-fk_settings-skeleton_settings-toggles'
                     )}
                   </Typography>
-                  <Typography color="secondary">
+                  <Typography>
                     {l10n.getString(
                       'settings-general-fk_settings-skeleton_settings-description'
                     )}
@@ -1003,14 +1001,14 @@ export function GeneralSettings() {
                     )}
                   />
                 </div>
-                <div className="flex flex-col pt-2 pb-3">
-                  <div className="flex flex-col pt-2 pb-3">
-                    <Typography bold>
+                <div className="flex flex-col">
+                  <div className="flex flex-col pt-2 pb-3 gap-2">
+                    <Typography variant="section-title">
                       {l10n.getString(
                         'settings-general-fk_settings-skeleton_settings-ratios'
                       )}
                     </Typography>
-                    <Typography color="secondary">
+                    <Typography>
                       {l10n.getString(
                         'settings-general-fk_settings-skeleton_settings-ratios-description'
                       )}
@@ -1112,12 +1110,12 @@ export function GeneralSettings() {
                 </div>
 
                 <div className="flex flex-col pt-2 pb-3">
-                  <Typography bold>
+                  <Typography variant="section-title">
                     {l10n.getString(
                       'settings-general-fk_settings-self_localization-title'
                     )}
                   </Typography>
-                  <Typography color="secondary">
+                  <Typography>
                     {l10n.getString(
                       'settings-general-fk_settings-self_localization-description'
                     )}
@@ -1147,11 +1145,12 @@ export function GeneralSettings() {
             <Typography variant="main-title">
               {l10n.getString('settings-general-gesture_control')}
             </Typography>
-            <Typography bold>
-              {l10n.getString('settings-general-gesture_control-subtitle')}
-            </Typography>
-            <div className="flex flex-col pt-2 pb-4">
-              <Typography color="secondary">
+
+            <div className="flex flex-col pt-2 pb-4 gap-2">
+              <Typography variant="section-title">
+                {l10n.getString('settings-general-gesture_control-subtitle')}
+              </Typography>
+              <Typography>
                 {l10n.getString('settings-general-gesture_control-description')}
               </Typography>
             </div>
@@ -1267,12 +1266,12 @@ export function GeneralSettings() {
               />
             </div>
             <div className="grid sm:grid-cols-1 gap-2 pt-2">
-              <Typography bold>
+              <Typography variant="section-title">
                 {l10n.getString(
                   'settings-general-gesture_control-numberTrackersOverThreshold'
                 )}
               </Typography>
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString(
                   'settings-general-gesture_control-numberTrackersOverThreshold-description'
                 )}

gui/src/components/settings/pages/InterfaceSettings.tsx

@@ -130,11 +130,14 @@ export function InterfaceSettings() {
               {l10n.getString('settings-interface-notifications')}
             </Typography>
 
-            <Typography bold>
-              {l10n.getString('settings-general-interface-serial_detection')}
-            </Typography>
+            <div className="pt-2">
+              <Typography variant="section-title">
+                {l10n.getString('settings-general-interface-serial_detection')}
+              </Typography>
+            </div>
+
             <div className="flex flex-col pt-1 pb-2">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString(
                   'settings-general-interface-serial_detection-description'
                 )}
@@ -152,11 +155,11 @@ export function InterfaceSettings() {
               />
             </div>
 
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString('settings-general-interface-feedback_sound')}
             </Typography>
             <div className="flex flex-col pt-1 pb-2">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString(
                   'settings-general-interface-feedback_sound-description'
                 )}
@@ -187,13 +190,13 @@ export function InterfaceSettings() {
               />
             </div>
 
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString(
                 'settings-general-interface-connected_trackers_warning'
               )}
             </Typography>
             <div className="flex flex-col pt-1 pb-2">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString(
                   'settings-general-interface-connected_trackers_warning-description'
                 )}
@@ -221,130 +224,134 @@ export function InterfaceSettings() {
             <Typography variant="main-title">
               {l10n.getString('settings-interface-behavior')}
             </Typography>
+            <div className="pt-2">
+              {isTrayAvailable && (
+                <>
+                  <Typography variant="section-title">
+                    {l10n.getString('settings-general-interface-use_tray')}
+                  </Typography>
+                  <div className="flex flex-col pt-1 pb-2">
+                    <Typography>
+                      {l10n.getString(
+                        'settings-general-interface-use_tray-description'
+                      )}
+                    </Typography>
+                  </div>
+                  <div className="grid sm:grid-cols-2 pb-4">
+                    <CheckBox
+                      variant="toggle"
+                      control={control}
+                      outlined
+                      name="behavior.useTray"
+                      label={l10n.getString(
+                        'settings-general-interface-use_tray-label'
+                      )}
+                    />
+                  </div>
+                </>
+              )}
 
-            {isTrayAvailable && (
-              <>
-                <Typography bold>
-                  {l10n.getString('settings-general-interface-use_tray')}
+              <Typography variant="section-title">
+                {l10n.getString('settings-general-interface-discord_presence')}
+              </Typography>
+              <div className="flex flex-col pt-1 pb-2">
+                <Typography>
+                  {l10n.getString(
+                    'settings-general-interface-discord_presence-description'
+                  )}
                 </Typography>
-                <div className="flex flex-col pt-1 pb-2">
-                  <Typography color="secondary">
+              </div>
+              <div className="grid sm:grid-cols-2 pb-4">
+                <CheckBox
+                  variant="toggle"
+                  control={control}
+                  outlined
+                  name="behavior.discordPresence"
+                  label={l10n.getString(
+                    'settings-general-interface-discord_presence-label'
+                  )}
+                />
+              </div>
+
+              <Typography variant="section-title">
+                {l10n.getString('settings-general-interface-dev_mode')}
+              </Typography>
+              <div className="flex flex-col pt-1 pb-2">
+                <Typography>
+                  {l10n.getString(
+                    'settings-general-interface-dev_mode-description'
+                  )}
+                </Typography>
+              </div>
+              <div className="grid sm:grid-cols-2 pb-4">
+                <CheckBox
+                  variant="toggle"
+                  control={control}
+                  outlined
+                  name="behavior.devmode"
+                  label={l10n.getString(
+                    'settings-general-interface-dev_mode-label'
+                  )}
+                />
+              </div>
+
+              <Typography variant="section-title">
+                {l10n.getString('settings-interface-behavior-error_tracking')}
+              </Typography>
+              <div className="flex flex-col pt-1 pb-2">
+                <Localized
+                  id={
+                    'settings-interface-behavior-error_tracking-description_v2'
+                  }
+                  elems={{
+                    b: <b></b>,
+                  }}
+                >
+                  <Typography whitespace="whitespace-pre-line"></Typography>
+                </Localized>
+              </div>
+              <div className="grid sm:grid-cols-2 pb-4">
+                <CheckBox
+                  variant="toggle"
+                  control={control}
+                  outlined
+                  name="behavior.errorTracking"
+                  label={l10n.getString(
+                    'settings-interface-behavior-error_tracking-label'
+                  )}
+                />
+              </div>
+
+              {isTauri() && (
+                <>
+                  <Typography variant="section-title">
                     {l10n.getString(
-                      'settings-general-interface-use_tray-description'
+                      'settings-interface-behavior-bvh_directory'
                     )}
                   </Typography>
-                </div>
-                <div className="grid sm:grid-cols-2 pb-4">
-                  <CheckBox
-                    variant="toggle"
-                    control={control}
-                    outlined
-                    name="behavior.useTray"
-                    label={l10n.getString(
-                      'settings-general-interface-use_tray-label'
-                    )}
-                  />
-                </div>
-              </>
-            )}
-
-            <Typography bold>
-              {l10n.getString('settings-general-interface-discord_presence')}
-            </Typography>
-            <div className="flex flex-col pt-1 pb-2">
-              <Typography color="secondary">
-                {l10n.getString(
-                  'settings-general-interface-discord_presence-description'
-                )}
-              </Typography>
+                  <div className="flex flex-col pt-1 pb-2">
+                    <Localized
+                      id={
+                        'settings-interface-behavior-bvh_directory-description'
+                      }
+                    >
+                      <Typography></Typography>
+                    </Localized>
+                  </div>
+                  <div className="grid gap-3 pb-5">
+                    <TauriFileInput
+                      name="behavior.bvhDirectory"
+                      rules={{
+                        required: false,
+                      }}
+                      control={control}
+                      label="settings-interface-behavior-bvh_directory-label"
+                      directory
+                    />
+                  </div>
+                </>
+              )}
             </div>
-            <div className="grid sm:grid-cols-2 pb-4">
-              <CheckBox
-                variant="toggle"
-                control={control}
-                outlined
-                name="behavior.discordPresence"
-                label={l10n.getString(
-                  'settings-general-interface-discord_presence-label'
-                )}
-              />
-            </div>
-
-            <Typography bold>
-              {l10n.getString('settings-general-interface-dev_mode')}
-            </Typography>
-            <div className="flex flex-col pt-1 pb-2">
-              <Typography color="secondary">
-                {l10n.getString(
-                  'settings-general-interface-dev_mode-description'
-                )}
-              </Typography>
-            </div>
-            <div className="grid sm:grid-cols-2 pb-4">
-              <CheckBox
-                variant="toggle"
-                control={control}
-                outlined
-                name="behavior.devmode"
-                label={l10n.getString(
-                  'settings-general-interface-dev_mode-label'
-                )}
-              />
-            </div>
-
-            <Typography bold>
-              {l10n.getString('settings-interface-behavior-error_tracking')}
-            </Typography>
-            <div className="flex flex-col pt-1 pb-2">
-              <Localized
-                id={'settings-interface-behavior-error_tracking-description_v2'}
-                elems={{
-                  b: <b></b>,
-                }}
-              >
-                <Typography
-                  color="secondary"
-                  whitespace="whitespace-pre-line"
-                ></Typography>
-              </Localized>
-            </div>
-            <div className="grid sm:grid-cols-2 pb-4">
-              <CheckBox
-                variant="toggle"
-                control={control}
-                outlined
-                name="behavior.errorTracking"
-                label={l10n.getString(
-                  'settings-interface-behavior-error_tracking-label'
-                )}
-              />
-            </div>
-
-            {isTauri() && (
-              <>
-                <Typography bold>
-                  {l10n.getString('settings-interface-behavior-bvh_directory')}
-                </Typography>
-                <div className="flex flex-col pt-1 pb-2">
-                  <Localized
-                    id={'settings-interface-behavior-bvh_directory-description'}
-                  >
-                    <Typography color="secondary"></Typography>
-                  </Localized>
-                </div>
-                <div className="grid gap-3 pb-5">
-                  <TauriFileInput
-                    name="behavior.bvhDirectory"
-                    rules={{
-                      required: false,
-                    }}
-                    control={control}
-                    label="settings-interface-behavior-bvh_directory-label"
-                    directory
-                  />
-                </div>
-              </>
-            )}
           </>
         </SettingsPagePaneLayout>
 
@@ -356,11 +363,13 @@ export function InterfaceSettings() {
             <Typography variant="main-title">
               {l10n.getString('settings-interface-appearance')}
             </Typography>
-            <Typography bold>
-              {l10n.getString('settings-interface-appearance-decorations')}
-            </Typography>
+            <div className="pt-2">
+              <Typography variant="section-title">
+                {l10n.getString('settings-interface-appearance-decorations')}
+              </Typography>
+            </div>
             <div className="flex flex-col pt-1 pb-2">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString(
                   'settings-interface-appearance-decorations-description'
                 )}
@@ -379,7 +388,7 @@ export function InterfaceSettings() {
             </div>
 
             <div className="pb-4">
-              <Typography bold>
+              <Typography variant="section-title">
                 {l10n.getString('settings-general-interface-theme')}
               </Typography>
               <div className="flex flex-wrap gap-3 pt-2">
@@ -440,13 +449,13 @@ export function InterfaceSettings() {
               </div>
             </div>
 
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString(
                 'settings-general-interface-show-navbar-onboarding'
               )}
             </Typography>
             <div className="flex flex-col pt-1 pb-2">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString(
                   'settings-general-interface-show-navbar-onboarding-description'
                 )}
@@ -464,11 +473,11 @@ export function InterfaceSettings() {
               />
             </div>
 
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString('settings-interface-appearance-font')}
             </Typography>
             <div className="flex flex-col pt-1 pb-2">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString(
                   'settings-interface-appearance-font-description'
                 )}
@@ -513,11 +522,11 @@ export function InterfaceSettings() {
               />
             </div>
 
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString('settings-interface-appearance-font_size')}
             </Typography>
             <div className="flex flex-col pt-1 pb-2">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString(
                   'settings-interface-appearance-font_size-description'
                 )}
@@ -541,11 +550,11 @@ export function InterfaceSettings() {
               />
             </div>
 
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString('settings-general-interface-lang')}
             </Typography>
             <div className="flex flex-col pt-1 pb-2">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString('settings-general-interface-lang-description')}
               </Typography>
             </div>

gui/src/components/settings/pages/MagnetometerToggleSetting.tsx

@@ -95,7 +95,7 @@ export function MagnetometerToggleSetting({
   return settingType === 'general' ? (
     <>
       <div className="flex flex-col pt-5 pb-3" id={id}>
-        <Typography bold>
+        <Typography variant="section-title">
           {l10n.getString(
             'settings-general-tracker_mechanics-use_mag_on_all_trackers'
           )}
@@ -104,10 +104,7 @@ export function MagnetometerToggleSetting({
           id="settings-general-tracker_mechanics-use_mag_on_all_trackers-description"
           elems={{ b: <b></b> }}
         >
-          <Typography
-            color="secondary"
-            whitespace="whitespace-pre-line"
-          ></Typography>
+          <Typography whitespace="whitespace-pre-line"></Typography>
         </Localized>
       </div>
       <CheckBox
@@ -139,10 +136,7 @@ export function MagnetometerToggleSetting({
           ),
         }}
       >
-        <Typography
-          color="secondary"
-          whitespace="whitespace-pre-line"
-        ></Typography>
+        <Typography whitespace="whitespace-pre-line"></Typography>
       </Localized>
       <div className="flex">
         <CheckBox

gui/src/components/settings/pages/OSCRouterSettings.tsx

@@ -110,17 +110,15 @@ export function OSCRouterSettings() {
                   .getString('settings-osc-router-description')
                   .split('\n')
                   .map((line, i) => (
-                    <Typography color="secondary" key={i}>
-                      {line}
-                    </Typography>
+                    <Typography key={i}>{line}</Typography>
                   ))}
               </>
             </div>
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString('settings-osc-router-enable')}
             </Typography>
             <div className="flex flex-col pb-2">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString('settings-osc-router-enable-description')}
               </Typography>
             </div>
@@ -133,7 +131,7 @@ export function OSCRouterSettings() {
                 label={l10n.getString('settings-osc-router-enable-label')}
               />
             </div>
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString('settings-osc-router-network')}
             </Typography>
             <div className="flex flex-col pb-2">
@@ -142,9 +140,7 @@ export function OSCRouterSettings() {
                   .getString('settings-osc-router-network-description')
                   .split('\n')
                   .map((line, i) => (
-                    <Typography color="secondary" key={i}>
-                      {line}
-                    </Typography>
+                    <Typography key={i}>{line}</Typography>
                   ))}
               </>
             </div>
@@ -176,11 +172,11 @@ export function OSCRouterSettings() {
                 ></Input>
               </Localized>
             </div>
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString('settings-osc-router-network-address')}
             </Typography>
             <div className="flex flex-col pb-2">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString(
                   'settings-osc-router-network-address-description'
                 )}

gui/src/components/settings/pages/Serial.tsx

@@ -240,9 +240,7 @@ export function Serial() {
               .getString('settings-serial-description')
               .split('\n')
               .map((line, i) => (
-                <Typography color="secondary" key={i}>
-                  {line}
-                </Typography>
+                <Typography key={i}>{line}</Typography>
               ))}
           </>
         </div>

gui/src/components/settings/pages/VMCSettings.tsx

@@ -137,17 +137,15 @@ export function VMCSettings() {
                   .getString('settings-osc-vmc-description')
                   .split('\n')
                   .map((line, i) => (
-                    <Typography color="secondary" key={i}>
-                      {line}
-                    </Typography>
+                    <Typography key={i}>{line}</Typography>
                   ))}
               </>
             </div>
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString('settings-osc-vmc-enable')}
             </Typography>
             <div className="flex flex-col pb-2">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString('settings-osc-vmc-enable-description')}
               </Typography>
             </div>
@@ -160,7 +158,7 @@ export function VMCSettings() {
                 label={l10n.getString('settings-osc-vmc-enable-label')}
               />
             </div>
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString('settings-osc-vmc-network')}
             </Typography>
             <div className="flex flex-col pb-2">
@@ -169,9 +167,7 @@ export function VMCSettings() {
                   .getString('settings-osc-vmc-network-description')
                   .split('\n')
                   .map((line, i) => (
-                    <Typography color="secondary" key={i}>
-                      {line}
-                    </Typography>
+                    <Typography key={i}>{line}</Typography>
                   ))}
               </>
             </div>
@@ -203,11 +199,11 @@ export function VMCSettings() {
                 ></Input>
               </Localized>
             </div>
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString('settings-osc-vmc-network-address')}
             </Typography>
             <div className="flex flex-col pb-2">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString('settings-osc-vmc-network-address-description')}
               </Typography>
             </div>
@@ -227,11 +223,11 @@ export function VMCSettings() {
                 label=""
               ></Input>
             </div>
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString('settings-osc-vmc-vrm')}
             </Typography>
             <div className="flex flex-col pb-2">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString('settings-osc-vmc-vrm-description')}
               </Typography>
             </div>
@@ -254,11 +250,11 @@ export function VMCSettings() {
               ></FileInput>
               {/* For some reason, linux (GNOME) is detecting the VRM file is a VRML */}
             </div>
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString('settings-osc-vmc-anchor_hip')}
             </Typography>
             <div className="flex flex-col pb-2">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString('settings-osc-vmc-anchor_hip-description')}
               </Typography>
             </div>
@@ -271,11 +267,11 @@ export function VMCSettings() {
                 label={l10n.getString('settings-osc-vmc-anchor_hip-label')}
               />
             </div>
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString('settings-osc-vmc-mirror_tracking')}
             </Typography>
             <div className="flex flex-col pb-2">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString('settings-osc-vmc-mirror_tracking-description')}
               </Typography>
             </div>

gui/src/components/settings/pages/VRCOSCSettings.tsx

@@ -140,17 +140,15 @@ export function VRCOSCSettings() {
                   .getString('settings-osc-vrchat-description-v1')
                   .split('\n')
                   .map((line, i) => (
-                    <Typography color="secondary" key={i}>
-                      {line}
-                    </Typography>
+                    <Typography key={i}>{line}</Typography>
                   ))}
               </>
             </div>
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString('settings-osc-vrchat-enable')}
             </Typography>
             <div className="flex flex-col pb-2">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString('settings-osc-vrchat-enable-description')}
               </Typography>
             </div>
@@ -164,18 +162,16 @@ export function VRCOSCSettings() {
               />
             </div>
 
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString('settings-osc-vrchat-oscqueryEnabled')}
             </Typography>
             <div className="flex flex-col pb-2">
-              <Typography color="secondary">
+              <Typography>
                 {l10n
                   .getString('settings-osc-vrchat-oscqueryEnabled-description')
                   .split('\n')
                   .map((line, i) => (
-                    <Typography color="secondary" key={i}>
-                      {line}
-                    </Typography>
+                    <Typography key={i}>{line}</Typography>
                   ))}
               </Typography>
             </div>
@@ -191,11 +187,11 @@ export function VRCOSCSettings() {
               />
             </div>
 
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString('settings-osc-vrchat-network')}
             </Typography>
             <div className="flex flex-col pb-2">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString('settings-osc-vrchat-network-description-v1')}
               </Typography>
             </div>
@@ -227,11 +223,11 @@ export function VRCOSCSettings() {
                 ></Input>
               </Localized>
             </div>
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString('settings-osc-vrchat-network-address')}
             </Typography>
             <div className="flex flex-col pb-2">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString(
                   'settings-osc-vrchat-network-address-description-v1'
                 )}
@@ -253,11 +249,11 @@ export function VRCOSCSettings() {
                 label=""
               ></Input>
             </div>
-            <Typography bold>
+            <Typography variant="section-title">
               {l10n.getString('settings-osc-vrchat-network-trackers')}
             </Typography>
             <div className="flex flex-col pb-2">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString(
                   'settings-osc-vrchat-network-trackers-description'
                 )}

gui/src/components/settings/pages/components/StayAlignedPoseModal.tsx

@@ -40,9 +40,7 @@ function StaAlignedPoseModal({
         </div>
         <div className="flex flex-col gap-1">
           {descriptionKeys.map((descriptionKey) => (
-            <Typography color="secondary">
-              {l10n.getString(descriptionKey)}
-            </Typography>
+            <Typography>{l10n.getString(descriptionKey)}</Typography>
           ))}
         </div>
         <div className="flex pt-1 items-center fill-background-50 justify-center px-12">

gui/src/components/settings/pages/components/StayAlignedSettings.tsx

@@ -182,10 +182,10 @@ export function StayAlignedSettings({
           {l10n.getString('settings-stay_aligned')}
         </Typography>
         <div className="mt-2">
-          <Typography color="secondary">
+          <Typography>
             {l10n.getString('settings-stay_aligned-description')}
           </Typography>
-          <Typography color="secondary">
+          <Typography>
             {l10n.getString('settings-stay_aligned-setup-description')}
           </Typography>
           <div className="flex mt-2">
@@ -199,7 +199,7 @@ export function StayAlignedSettings({
           </div>
         </div>
         <div className="mt-6">
-          <Typography bold>
+          <Typography variant="section-title">
             {l10n.getString('settings-stay_aligned-general-label')}
           </Typography>
           <div className="grid sm:grid-cols-2 gap-3 mt-2">
@@ -224,11 +224,11 @@ export function StayAlignedSettings({
           </div>
         </div>
         <div className="mt-6">
-          <Typography bold>
+          <Typography variant="section-title">
             {l10n.getString('settings-stay_aligned-relaxed_poses-label')}
           </Typography>
           <div className="mt-2">
-            <Typography color="secondary">
+            <Typography>
               {l10n.getString(
                 'settings-stay_aligned-relaxed_poses-description'
               )}
@@ -305,11 +305,11 @@ export function StayAlignedSettings({
           </div>
         </div>
         <div className="mt-6">
-          <Typography bold>
+          <Typography variant="section-title">
             {l10n.getString('settings-stay_aligned-debug-label')}
           </Typography>
           <div className="mt-2">
-            <Typography color="secondary">
+            <Typography>
               {l10n.getString('settings-stay_aligned-debug-description')}
             </Typography>
           </div>

gui/src/components/tracker/SingleTrackerBodyAssignmentMenu.tsx

@@ -49,7 +49,7 @@ export function SingleTrackerBodyAssignmentMenu({
               <Typography variant="mobile-title" bold>
                 {l10n.getString('body_assignment_menu')}
               </Typography>
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString('body_assignment_menu-description')}
               </Typography>
               <div className="flex">

gui/src/components/tracker/TrackerBattery.tsx

@@ -7,7 +7,7 @@ export function TrackerBattery({
   value,
   voltage,
   disabled,
-  textColor = 'secondary',
+  textColor = 'primary',
 }: {
   /**
    * a [0, 1] value range is expected

gui/src/components/tracker/TrackerPartCard.tsx

@@ -99,7 +99,7 @@ export function TrackerPartCard({
             <WarningIcon></WarningIcon>
           </div>
         )}
-        <Typography color="secondary">
+        <Typography variant="section-title">
           {l10n.getString('body_part-' + BodyPart[role])}
         </Typography>
         {td?.map(({ tracker }, index) => (
@@ -110,7 +110,7 @@ export function TrackerPartCard({
           />
         ))}
         {!td && (
-          <Typography>
+          <Typography color="text-background-30">
             {l10n.getString('tracker-part_card-unassigned')}
           </Typography>
         )}

gui/src/components/tracker/TrackerSettings.tsx

@@ -211,10 +211,10 @@ export function TrackerSettingsPage() {
                 </Typography>
               </Localized>
               <div className="flex gap-2">
-                <Typography color="secondary">
+                <Typography>
                   v{tracker?.device?.hardwareInfo?.firmwareVersion}
                 </Typography>
-                <Typography color="secondary">-</Typography>
+                <Typography>-</Typography>
                 {updateUnavailable && (
                   <Localized id="tracker-settings-update-unavailable">
                     <Typography>Cannot be updated (DIY)</Typography>
@@ -272,7 +272,7 @@ export function TrackerSettingsPage() {
 
           <div className="flex flex-col bg-background-70 p-3 rounded-lg gap-2 overflow-x-auto">
             <div className="flex justify-between">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString('tracker-infos-manufacturer')}
               </Typography>
               <Typography>
@@ -280,13 +280,13 @@ export function TrackerSettingsPage() {
               </Typography>
             </div>
             <div className="flex justify-between">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString('tracker-infos-display_name')}
               </Typography>
               <Typography>{tracker?.tracker.info?.displayName}</Typography>
             </div>
             <div className="flex justify-between">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString('tracker-infos-custom_name')}
               </Typography>
               <Typography sentry-mask>
@@ -294,9 +294,7 @@ export function TrackerSettingsPage() {
               </Typography>
             </div>
             <div className="flex justify-between">
-              <Typography color="secondary">
-                {l10n.getString('tracker-infos-url')}
-              </Typography>
+              <Typography>{l10n.getString('tracker-infos-url')}</Typography>
               <Typography>
                 udp://
                 {IPv4.fromNumber(
@@ -305,7 +303,7 @@ export function TrackerSettingsPage() {
               </Typography>
             </div>
             <div className="flex justify-between">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString('tracker-infos-hardware_identifier')}
               </Typography>
               <Typography>
@@ -313,7 +311,7 @@ export function TrackerSettingsPage() {
               </Typography>
             </div>
             <div className="flex justify-between">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString('tracker-infos-data_support')}
               </Typography>
               <Typography>
@@ -323,9 +321,7 @@ export function TrackerSettingsPage() {
               </Typography>
             </div>
             <div className="flex justify-between">
-              <Typography color="secondary">
-                {l10n.getString('tracker-infos-imu')}
-              </Typography>
+              <Typography>{l10n.getString('tracker-infos-imu')}</Typography>
               <Typography>
                 {tracker?.tracker.info?.imuType
                   ? ImuType[tracker?.tracker.info?.imuType]
@@ -333,13 +329,13 @@ export function TrackerSettingsPage() {
               </Typography>
             </div>
             <div className="flex justify-between">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString('tracker-infos-board_type')}
               </Typography>
               <Typography>{boardType}</Typography>
             </div>
             <div className="flex justify-between">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString('tracker-infos-magnetometer')}
               </Typography>
               <Typography>
@@ -352,7 +348,7 @@ export function TrackerSettingsPage() {
               </Typography>
             </div>
             <div className="flex justify-between">
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString('tracker-infos-network_version')}
               </Typography>
               <Typography>
@@ -377,7 +373,7 @@ export function TrackerSettingsPage() {
             <Typography variant="section-title">
               {l10n.getString('tracker-settings-assignment_section')}
             </Typography>
-            <Typography color="secondary">
+            <Typography>
               {l10n.getString(
                 'tracker-settings-assignment_section-description'
               )}
@@ -419,7 +415,7 @@ export function TrackerSettingsPage() {
               <Typography variant="section-title">
                 {l10n.getString('tracker-settings-mounting_section')}
               </Typography>
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString(
                   'tracker-settings-mounting_section-description'
                 )}
@@ -468,7 +464,7 @@ export function TrackerSettingsPage() {
             <Typography variant="section-title">
               {l10n.getString('tracker-settings-name_section')}
             </Typography>
-            <Typography color="secondary">
+            <Typography>
               {l10n.getString('tracker-settings-name_section-description')}
             </Typography>
             <Input
@@ -488,7 +484,7 @@ export function TrackerSettingsPage() {
               <Typography variant="section-title">
                 {l10n.getString('tracker-settings-forget')}
               </Typography>
-              <Typography color="secondary">
+              <Typography>
                 {l10n.getString('tracker-settings-forget-description')}
               </Typography>
               <Button

gui/src/components/tracker/TrackerStatus.tsx

@@ -35,7 +35,7 @@ export function TrackerStatus({ status }: { status: number }) {
       <div className="flex flex-col justify-center">
         <div className={classNames('w-2 h-2 rounded-full', statusClass)}></div>
       </div>
-      <Typography color="secondary" whitespace="whitespace-nowrap">
+      <Typography whitespace="whitespace-nowrap">
         {l10n.getString(statusLabel)}
       </Typography>
     </div>

gui/src/components/vrc/VRCWarningsPage.tsx

@@ -130,7 +130,7 @@ export function VRCWarningsPage() {
           <Typography variant="main-title" />
         </Localized>
         <Localized id={'vrc_config-page-desc'}>
-          <Typography variant="standard" color="secondary" />
+          <Typography variant="standard" />
         </Localized>
       </div>
       <div className="w-full mt-4 gap-2 flex flex-col">
@@ -142,7 +142,7 @@ export function VRCWarningsPage() {
                   <Typography variant="section-title" />
                 </Localized>
                 <Localized id="vrc_config-page-big_menu-desc">
-                  <Typography color="secondary" />
+                  <Typography />
                 </Localized>
                 <Table>
                   <SettingRow
@@ -248,7 +248,7 @@ export function VRCWarningsPage() {
                   <Typography variant="section-title" />
                 </Localized>
                 <Localized id="vrc_config-page-wrist_menu-desc">
-                  <Typography color="secondary" />
+                  <Typography />
                 </Localized>
                 <Table>
                   <SettingRow
@@ -304,7 +304,7 @@ export function VRCWarningsPage() {
             a: <A href="https://docs.slimevr.dev/tools/vrchat-config.html"></A>,
           }}
         >
-          <Typography color="secondary" />
+          <Typography />
         </Localized>
       </div>
     </div>

gui/src/components/widgets/DeveloperModeWidget.tsx

@@ -75,9 +75,7 @@ export function DeveloperModeWidget() {
   return (
     <form className="bg-background-60 flex flex-col w-full rounded-md px-2">
       <div className="mt-2 px-1">
-        <Typography color="secondary">
-          {l10n.getString('widget-developer_mode')}
-        </Typography>
+        <Typography>{l10n.getString('widget-developer_mode')}</Typography>
       </div>
       {Object.entries(toggles).map(makeToggle)}
     </form>

gui/src/components/widgets/IMUVisualizerWidget.tsx

@@ -128,7 +128,7 @@ export function IMUVisualizerWidget({ tracker }: { tracker: TrackerDataT }) {
 
       {tracker.position && (
         <div className="flex justify-between">
-          <Typography color="secondary">
+          <Typography>
             {l10n.getString('widget-imu_visualizer-position')}
           </Typography>
           <Typography>{formatVector3(tracker.position, 2)}</Typography>
@@ -136,14 +136,14 @@ export function IMUVisualizerWidget({ tracker }: { tracker: TrackerDataT }) {
       )}
 
       <div className="flex justify-between">
-        <Typography color="secondary">
+        <Typography>
           {l10n.getString('widget-imu_visualizer-rotation_raw')}
         </Typography>
         <Typography>{formatVector3(rotationRaw, 2)}</Typography>
       </div>
 
       <div className="flex justify-between">
-        <Typography color="secondary">
+        <Typography>
           {l10n.getString('widget-imu_visualizer-rotation_preview')}
         </Typography>
         <Typography>{formatVector3(rotationIdent, 2)}</Typography>
@@ -151,7 +151,7 @@ export function IMUVisualizerWidget({ tracker }: { tracker: TrackerDataT }) {
 
       {tracker.linearAcceleration && (
         <div className="flex justify-between">
-          <Typography color="secondary">
+          <Typography>
             {l10n.getString('widget-imu_visualizer-acceleration')}
           </Typography>
           <Typography>
@@ -162,7 +162,7 @@ export function IMUVisualizerWidget({ tracker }: { tracker: TrackerDataT }) {
 
       {tracker.rawMagneticVector && (
         <div className="flex justify-between">
-          <Typography color="secondary">
+          <Typography>
             {l10n.getString('tracker-infos-magnetometer')}
           </Typography>
           <Typography>{formatVector3(tracker.rawMagneticVector, 1)}</Typography>
@@ -171,7 +171,7 @@ export function IMUVisualizerWidget({ tracker }: { tracker: TrackerDataT }) {
 
       {!!tracker.stayAligned && (
         <div className="flex justify-between">
-          <Typography color="secondary">
+          <Typography>
             {l10n.getString('widget-imu_visualizer-stay_aligned')}
           </Typography>
           <StayAlignedInfo color="primary" tracker={tracker} />

gui/src/components/widgets/OverlayWidget.tsx

@@ -68,9 +68,7 @@ export function OverlayWidget() {
   return !loading ? (
     <form className="bg-background-60 flex flex-col w-full rounded-md px-2">
       <div className="mt-2 px-1">
-        <Typography color="secondary">
-          {l10n.getString('widget-overlay')}
-        </Typography>
+        <Typography>{l10n.getString('widget-overlay')}</Typography>
       </div>
       <CheckBox
         control={control}

gui/src/hooks/firmware-update.ts

@@ -27,6 +27,14 @@ const hash = (str: string) => {
 const firstAsset = (assets: any[], name: string) =>
   assets.find((asset: any) => asset.name === name && asset.browser_download_url);
 
+const todaysRange = (deployData: [number, Date][]): number => {
+  let maxRange = 0;
+  for (const [range, date] of deployData) {
+    if (Date.now() >= date.getTime()) maxRange = range;
+  }
+  return maxRange;
+};
+
 const checkUserCanUpdate = async (url: string, fwVersion: string) => {
   if (!url) return true;
   const deployDataJson = JSON.parse(
@@ -57,11 +65,7 @@ const checkUserCanUpdate = async (url: string, fwVersion: string) => {
   )
     return false; // Dates in the wrong order / cancel
 
-  const todayUpdateRange = deployData.find(([, date], index) => {
-    if (index === 0 && Date.now() < date.getTime()) return true;
-    return Date.now() >= date.getTime();
-  })?.[0];
-
+  const todayUpdateRange = todaysRange(deployData);
   if (!todayUpdateRange) return false;
 
   const uniqueUserKey = `${await hostname()}-${await locale()}-${platform()}-${version()}`;

gui/src/vite-env.d.ts

@@ -4,14 +4,14 @@
 declare const __COMMIT_HASH__: string;
 declare const __VERSION_TAG__: string;
 declare const __GIT_CLEAN__: boolean;
-declare const __ANDROID__:
-  | {
-      isThere: () => boolean;
-    }
-  | undefined;
 
 interface Window {
   readonly isTauri: boolean;
+  readonly __ANDROID__:
+    | {
+        isThere: () => boolean;
+      }
+    | undefined;
 }
 
 declare module 'tailwind-gradient-mask-image';

server/android/src/main/AndroidManifest.xml

@@ -2,6 +2,8 @@
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
     xmlns:tools="http://schemas.android.com/tools">
 
+    <uses-feature android:name="android.hardware.usb.host" android:required="false" />
+
     <uses-permission android:name="android.permission.INTERNET"/>
     <uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
     <uses-permission android:name="android.permission.CHANGE_WIFI_MULTICAST_STATE" />
@@ -26,7 +28,11 @@
             <intent-filter>
                 <action android:name="android.intent.action.MAIN" />
                 <category android:name="android.intent.category.LAUNCHER" />
+                <action android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED" />
             </intent-filter>
+
+            <meta-data android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED"
+                android:resource="@xml/device_filter" />
         </activity>
 
         <service

server/android/src/main/java/dev/slimevr/android/Main.kt

@@ -8,6 +8,8 @@ import androidx.appcompat.app.AppCompatActivity
 import dev.slimevr.Keybinding
 import dev.slimevr.VRServer
 import dev.slimevr.android.serial.AndroidSerialHandler
+import dev.slimevr.android.tracking.trackers.hid.AndroidHIDManager
+import dev.slimevr.tracking.trackers.Tracker
 import io.eiren.util.logging.LogManager
 import io.ktor.http.CacheControl
 import io.ktor.http.CacheControl.Visibility
@@ -60,6 +62,15 @@ fun main(activity: AppCompatActivity) {
 				},
 			)
 			vrServer.start()
+
+			// Start service for USB HID trackers
+			val androidHidManager = AndroidHIDManager(
+				"Sensors HID service",
+				{ tracker: Tracker -> vrServer.registerTracker(tracker) },
+				activity,
+			)
+			androidHidManager.start()
+
 			Keybinding(vrServer)
 			vrServer.join()
 			LogManager.closeLogger()

server/android/src/main/java/dev/slimevr/android/serial/AndroidSerialHandler.kt

@@ -1,10 +1,13 @@
 package dev.slimevr.android.serial
 
 import android.app.PendingIntent
+import android.content.BroadcastReceiver
 import android.content.Context
 import android.content.Intent
+import android.content.IntentFilter
 import android.hardware.usb.UsbManager
 import androidx.appcompat.app.AppCompatActivity
+import androidx.core.content.ContextCompat
 import com.hoho.android.usbserial.driver.UsbSerialDriver
 import com.hoho.android.usbserial.driver.UsbSerialPort
 import com.hoho.android.usbserial.driver.UsbSerialProber
@@ -15,10 +18,8 @@ import io.eiren.util.logging.LogManager
 import java.io.IOException
 import java.nio.ByteBuffer
 import java.nio.charset.StandardCharsets
-import java.util.*
 import java.util.concurrent.CopyOnWriteArrayList
 import java.util.stream.Stream
-import kotlin.concurrent.timerTask
 import kotlin.streams.asSequence
 import kotlin.streams.asStream
 import dev.slimevr.serial.SerialPort as SlimeSerialPort
@@ -43,12 +44,11 @@ class AndroidSerialHandler(val activity: AppCompatActivity) :
 	private var usbIoManager: SerialInputOutputManager? = null
 
 	private val listeners: MutableList<SerialListener> = CopyOnWriteArrayList()
-	private val getDevicesTimer = Timer("GetDevicesTimer")
-	private var watchingNewDevices = false
 	private var lastKnownPorts = setOf<SerialPortWrapper>()
 	private val manager = activity.getSystemService(Context.USB_SERVICE) as UsbManager
 	private var currentPort: SerialPortWrapper? = null
 	private var requestingPermission: String = ""
+	private var readBuffer: StringBuilder = StringBuilder(1024)
 
 	override val isConnected: Boolean
 		get() = currentPort?.port?.isOpen ?: false
@@ -60,37 +60,70 @@ class AndroidSerialHandler(val activity: AppCompatActivity) :
 			.filter { isKnownBoard(it) }
 			.asStream()
 
+	val usbReceiver: BroadcastReceiver = object : BroadcastReceiver() {
+		override fun onReceive(context: Context, intent: Intent) {
+			when (intent.action) {
+				UsbManager.ACTION_USB_DEVICE_ATTACHED, UsbManager.ACTION_USB_DEVICE_DETACHED -> {
+					// Use device from `UsbManager.EXTRA_DEVICE` if this is a problem
+					detectNewPorts()
+				}
+
+				ACTION_USB_PERMISSION -> {
+					// TODO: We can probably receive this event in the server to avoid
+					//  polling, but for now we can just ignore it. (Note: This event is
+					//  not currently registered, so it will never fire.)
+				}
+			}
+		}
+	}
+
 	init {
-		startWatchingNewDevices()
+		val intentFilter = IntentFilter(UsbManager.ACTION_USB_DEVICE_ATTACHED)
+		intentFilter.addAction(UsbManager.ACTION_USB_DEVICE_DETACHED)
+
+		// Listen for USB device attach/detach
+		ContextCompat.registerReceiver(
+			activity,
+			usbReceiver,
+			intentFilter,
+			ContextCompat.RECEIVER_NOT_EXPORTED,
+		)
+
+		// Detect initial serial ports
+		detectNewPorts()
 	}
 
 	private fun getPorts(): List<UsbSerialDriver> = UsbSerialProber.getDefaultProber().findAllDrivers(manager)
 
-	private fun startWatchingNewDevices() {
-		if (watchingNewDevices) return
-		watchingNewDevices = true
-		getDevicesTimer.scheduleAtFixedRate(
-			timerTask {
-				try {
-					detectNewPorts()
-				} catch (t: Throwable) {
-					LogManager.severe(
-						"[SerialHandler] Error while watching for new devices, cancelling the \"getDevicesTimer\".",
-						t,
-					)
-					getDevicesTimer.cancel()
-				}
-			},
-			0,
-			3000,
-		)
-	}
-
 	private fun onNewDevice(port: SerialPortWrapper) {
+		// If we missed clearing this on disconnect/close, clear it on discovery
+		if (requestingPermission == port.portLocation) {
+			requestingPermission = ""
+		}
+
+		LogManager.info("[SerialHandler] Device added: ${port.descriptivePortName}")
 		listeners.forEach { it.onNewSerialDevice(port) }
 	}
 
 	private fun onDeviceDel(port: SerialPortWrapper) {
+		// Remove permission request on disconnect so reconnecting re-requests
+		if (requestingPermission == port.portLocation) {
+			requestingPermission = ""
+		}
+
+		// If we're currently using this port, close it
+		currentPort?.portLocation.let { currentPortLocation ->
+			if (currentPortLocation == port.portLocation) {
+				closeSerial()
+			}
+		}
+
+		// If this port is still open for whatever reason, close it
+		if (port.port.isOpen) {
+			port.port.close()
+		}
+
+		LogManager.info("[SerialHandler] Device removed: ${port.descriptivePortName}")
 		listeners.forEach { it.onSerialDeviceDeleted(port) }
 	}
 
@@ -154,9 +187,11 @@ class AndroidSerialHandler(val activity: AppCompatActivity) :
 				flags,
 			)
 			if (requestingPermission != newPort.portLocation) {
-				println("Requesting permission for ${newPort.portLocation}")
+				LogManager.info("[SerialHandler] Requesting permission for ${newPort.portLocation}")
 				manager.requestPermission(newPort.port.device, usbPermissionIntent)
 				requestingPermission = newPort.portLocation
+			} else {
+				LogManager.info("[SerialHandler] Already requested permission for ${newPort.portLocation}, skipping")
 			}
 			LogManager.warning(
 				"[SerialHandler] Can't open serial port ${newPort.descriptivePortName}, invalid permissions",
@@ -164,11 +199,13 @@ class AndroidSerialHandler(val activity: AppCompatActivity) :
 			return false
 		}
 
+		// If we have permission, we aren't requesting anymore
+		requestingPermission = ""
+
 		val connection = manager.openDevice(newPort.port.device)
 		if (connection == null) {
 			LogManager.warning(
 				"[SerialHandler] Can't open serial port ${newPort.descriptivePortName}, connection failed",
-
 			)
 			return false
 		}
@@ -186,7 +223,7 @@ class AndroidSerialHandler(val activity: AppCompatActivity) :
 	@Synchronized
 	private fun writeSerial(serialText: String, print: Boolean = false) {
 		try {
-			usbIoManager?.writeAsync("${serialText}\n".toByteArray())
+			currentPort?.port?.write("${serialText}\n".toByteArray(), 0)
 			if (print) {
 				addLog("-> $serialText\n")
 			}
@@ -224,6 +261,8 @@ class AndroidSerialHandler(val activity: AppCompatActivity) :
 			usbIoManager?.stop()
 			usbIoManager = null
 			currentPort = null
+			requestingPermission = ""
+			readBuffer.clear()
 		} catch (e: Exception) {
 			LogManager.warning(
 				"[SerialHandler] Error closing port ${currentPort?.descriptivePortName}",
@@ -233,7 +272,7 @@ class AndroidSerialHandler(val activity: AppCompatActivity) :
 	}
 
 	override fun write(buff: ByteArray) {
-		usbIoManager?.writeAsync(buff)
+		currentPort?.port?.write(buff, 0)
 	}
 
 	@Synchronized
@@ -251,14 +290,21 @@ class AndroidSerialHandler(val activity: AppCompatActivity) :
 
 	override fun onNewData(data: ByteArray?) {
 		if (data != null) {
-			val s = StandardCharsets.UTF_8.decode(ByteBuffer.wrap(data)).toString()
-			addLog(s, false)
+			// Collect serial in a buffer until newline (or character limit)
+			// This is somewhat of a workaround for Android serial buffer being smaller
+			//  than on desktop, so we don't read full lines and it causes parsing issues
+			readBuffer.append(StandardCharsets.UTF_8.decode(ByteBuffer.wrap(data)))
+
+			if (readBuffer.contains('\n') || readBuffer.length >= 1024) {
+				addLog(readBuffer.toString(), false)
+				readBuffer.clear()
+			}
 		}
 	}
 
 	override fun onRunError(e: java.lang.Exception?) {}
 
 	companion object {
-		private val ACTION_USB_PERMISSION = "dev.slimevr.USB_PERMISSION"
+		private const val ACTION_USB_PERMISSION = "dev.slimevr.USB_PERMISSION"
 	}
 }

server/android/src/main/java/dev/slimevr/android/tracking/trackers/hid/AndroidHIDDevice.kt

@@ -0,0 +1,93 @@
+package dev.slimevr.android.tracking.trackers.hid
+
+import android.hardware.usb.UsbConstants
+import android.hardware.usb.UsbDevice
+import android.hardware.usb.UsbDeviceConnection
+import android.hardware.usb.UsbEndpoint
+import android.hardware.usb.UsbInterface
+import android.hardware.usb.UsbManager
+import java.io.Closeable
+
+/**
+ * A wrapper over Android's [UsbDevice] for HID devices.
+ */
+class AndroidHIDDevice(hidDevice: UsbDevice, usbManager: UsbManager) : Closeable {
+
+	val deviceName = hidDevice.deviceName
+	val serialNumber = hidDevice.serialNumber
+	val manufacturerName = hidDevice.manufacturerName
+	val productName = hidDevice.productName
+
+	val hidInterface: UsbInterface
+
+	val endpointIn: UsbEndpoint
+	val endpointOut: UsbEndpoint?
+
+	val deviceConnection: UsbDeviceConnection
+
+	init {
+		hidInterface = findHidInterface(hidDevice)!!
+
+		val (endpointIn, endpointOut) = findHidIO(hidInterface)
+		this.endpointIn = endpointIn!!
+		this.endpointOut = endpointOut
+
+		deviceConnection = usbManager.openDevice(hidDevice)!!
+
+		deviceConnection.claimInterface(hidInterface, true)
+	}
+
+	override fun close() {
+		deviceConnection.releaseInterface(hidInterface)
+		deviceConnection.close()
+	}
+
+	companion object {
+		/**
+		 * Find the HID interface.
+		 *
+		 * @return
+		 * Return the HID interface if found, otherwise null.
+		 */
+		private fun findHidInterface(usbDevice: UsbDevice): UsbInterface? {
+			val interfaceCount: Int = usbDevice.interfaceCount
+
+			for (interfaceIndex in 0 until interfaceCount) {
+				val usbInterface = usbDevice.getInterface(interfaceIndex)
+
+				if (usbInterface.interfaceClass == UsbConstants.USB_CLASS_HID) {
+					return usbInterface
+				}
+			}
+
+			return null
+		}
+
+		/**
+		 * Find the HID endpoints.
+		 *
+		 * @return
+		 * Return the HID endpoints if found, otherwise null.
+		 */
+		private fun findHidIO(usbInterface: UsbInterface): Pair<UsbEndpoint?, UsbEndpoint?> {
+			val endpointCount: Int = usbInterface.endpointCount
+
+			var usbEndpointIn: UsbEndpoint? = null
+			var usbEndpointOut: UsbEndpoint? = null
+
+			for (endpointIndex in 0 until endpointCount) {
+				val usbEndpoint = usbInterface.getEndpoint(endpointIndex)
+
+				if (usbEndpoint.type == UsbConstants.USB_ENDPOINT_XFER_INT) {
+					if (usbEndpoint.direction == UsbConstants.USB_DIR_OUT) {
+						usbEndpointOut = usbEndpoint
+					} else {
+						usbEndpointIn = usbEndpoint
+					}
+				}
+			}
+
+			return Pair(usbEndpointIn, usbEndpointOut)
+		}
+	}
+}

server/android/src/main/java/dev/slimevr/android/tracking/trackers/hid/AndroidHIDManager.kt

@@ -0,0 +1,254 @@
+package dev.slimevr.android.tracking.trackers.hid
+
+import android.app.PendingIntent
+import android.content.BroadcastReceiver
+import android.content.Context
+import android.content.Intent
+import android.content.IntentFilter
+import android.hardware.usb.UsbDevice
+import android.hardware.usb.UsbManager
+import androidx.core.content.ContextCompat
+import dev.slimevr.tracking.trackers.Device
+import dev.slimevr.tracking.trackers.Tracker
+import dev.slimevr.tracking.trackers.TrackerStatus
+import dev.slimevr.tracking.trackers.hid.HIDCommon
+import dev.slimevr.tracking.trackers.hid.HIDCommon.Companion.HID_TRACKER_RECEIVER_PID
+import dev.slimevr.tracking.trackers.hid.HIDCommon.Companion.HID_TRACKER_RECEIVER_VID
+import dev.slimevr.tracking.trackers.hid.HIDCommon.Companion.PACKET_SIZE
+import dev.slimevr.tracking.trackers.hid.HIDDevice
+import io.eiren.util.logging.LogManager
+import java.nio.ByteBuffer
+import java.util.function.Consumer
+
+const val ACTION_USB_PERMISSION = "dev.slimevr.USB_PERMISSION"
+
+/**
+ * Handles Android USB Host HID dongles and receives tracker data from them.
+ */
+class AndroidHIDManager(
+	name: String,
+	private val trackersConsumer: Consumer<Tracker>,
+	private val context: Context,
+) : Thread(name) {
+	private val devices: MutableList<HIDDevice> = mutableListOf()
+	private val devicesBySerial: MutableMap<String, MutableList<Int>> = HashMap()
+	private val devicesByHID: MutableMap<UsbDevice, MutableList<Int>> = HashMap()
+	private val connByHID: MutableMap<UsbDevice, AndroidHIDDevice> = HashMap()
+	private val lastDataByHID: MutableMap<UsbDevice, Int> = HashMap()
+	private val usbManager: UsbManager = context.getSystemService(Context.USB_SERVICE) as UsbManager
+
+	val usbReceiver: BroadcastReceiver = object : BroadcastReceiver() {
+		override fun onReceive(context: Context, intent: Intent) {
+			when (intent.action) {
+				UsbManager.ACTION_USB_DEVICE_ATTACHED -> {
+					(intent.getParcelableExtra(UsbManager.EXTRA_DEVICE) as UsbDevice?)?.let {
+						checkConfigureDevice(it, requestPermission = true)
+					}
+				}
+
+				UsbManager.ACTION_USB_DEVICE_DETACHED -> {
+					(intent.getParcelableExtra(UsbManager.EXTRA_DEVICE) as UsbDevice?)?.let {
+						removeDevice(it)
+					}
+				}
+
+				ACTION_USB_PERMISSION -> {
+					deviceEnumerate(false)
+				}
+			}
+		}
+	}
+
+	private fun proceedWithDeviceConfiguration(hidDevice: UsbDevice) {
+		// This is the original logic from checkConfigureDevice after permission is confirmed
+		LogManager.info("[TrackerServer] USB Permission granted for ${hidDevice.deviceName}. Proceeding with configuration.")
+
+		// Close any existing connection (do we still have one?)
+		this.connByHID[hidDevice]?.close()
+		// Open new HID connection with USB device
+		this.connByHID[hidDevice] = AndroidHIDDevice(hidDevice, usbManager)
+
+		val serial = hidDevice.serialNumber ?: "Unknown USB Device ${hidDevice.deviceId}"
+		this.devicesBySerial[serial]?.let {
+			this.devicesByHID[hidDevice] = it
+			synchronized(this.devices) {
+				for (id in it) {
+					val device = this.devices[id]
+					for (value in device.trackers.values) {
+						if (value.status == TrackerStatus.DISCONNECTED) value.status = TrackerStatus.OK
+					}
+				}
+			}
+			LogManager.info("[TrackerServer] Linked HID device reattached: $serial")
+			return
+		}
+
+		val list: MutableList<Int> = mutableListOf()
+		this.devicesBySerial[serial] = list
+		this.devicesByHID[hidDevice] = list
+		this.lastDataByHID[hidDevice] = 0 // initialize last data received
+		LogManager.info("[TrackerServer] (Probably) Compatible HID device detected: $serial")
+	}
+
+	fun checkConfigureDevice(usbDevice: UsbDevice, requestPermission: Boolean = false) {
+		if (usbDevice.vendorId == HID_TRACKER_RECEIVER_VID && usbDevice.productId == HID_TRACKER_RECEIVER_PID) {
+			if (usbManager.hasPermission(usbDevice)) {
+				LogManager.info("[TrackerServer] Already have permission for ${usbDevice.deviceName}")
+				proceedWithDeviceConfiguration(usbDevice)
+			} else if (requestPermission) {
+				LogManager.info("[TrackerServer] Requesting permission for ${usbDevice.deviceName}")
+				val permissionIntent = PendingIntent.getBroadcast(
+					context,
+					0,
+					Intent(ACTION_USB_PERMISSION).apply { setPackage(context.packageName) }, // Explicitly set package
+					PendingIntent.FLAG_MUTABLE or PendingIntent.FLAG_UPDATE_CURRENT,
+				)
+				usbManager.requestPermission(usbDevice, permissionIntent)
+			}
+		}
+	}
+
+	private fun removeDevice(hidDevice: UsbDevice) {
+		this.devicesByHID[hidDevice]?.let {
+			synchronized(this.devices) {
+				for (id in it) {
+					val device = this.devices[id]
+					for (value in device.trackers.values) {
+						if (value.status == TrackerStatus.OK) {
+							value.status =
+								TrackerStatus.DISCONNECTED
+						}
+					}
+				}
+			}
+
+			this.devicesByHID.remove(hidDevice)
+
+			val oldConn = this.connByHID.remove(hidDevice)
+			val serial = oldConn?.serialNumber ?: "Unknown"
+			oldConn?.close()
+
+			LogManager.info("[TrackerServer] Linked HID device removed: $serial")
+		}
+	}
+
+	private fun dataRead() {
+		synchronized(devicesByHID) {
+			var devicesPresent = false
+			var devicesDataReceived = false
+			val q = intArrayOf(0, 0, 0, 0)
+			val a = intArrayOf(0, 0, 0)
+			val m = intArrayOf(0, 0, 0)
+			for ((hidDevice, deviceList) in devicesByHID) {
+				val dataReceived = ByteArray(64)
+				val conn = connByHID[hidDevice]!!
+				val dataRead = conn.deviceConnection.bulkTransfer(conn.endpointIn, dataReceived, dataReceived.size, 0)
+
+				// LogManager.info("[TrackerServer] HID data read ($dataRead bytes): ${dataReceived.contentToString()}")
+
+				devicesPresent = true // Even if the device has no data
+				if (dataRead > 0) {
+					// Process data
+					// The data is always received as 64 bytes, this check no longer works
+					if (dataRead % PACKET_SIZE != 0) {
+						LogManager.info("[TrackerServer] Malformed HID packet, ignoring")
+						continue // Don't continue with this data
+					}
+					devicesDataReceived = true // Data is received and is valid (not malformed)
+					lastDataByHID[hidDevice] = 0 // reset last data received
+					val packetCount = dataRead / PACKET_SIZE
+					var i = 0
+					while (i < packetCount * PACKET_SIZE) {
+						// Common packet data
+						val packetType = dataReceived[i].toUByte().toInt()
+						val id = dataReceived[i + 1].toUByte().toInt()
+						val deviceId = id
+
+						// Register device
+						if (packetType == 255) { // device register packet from receiver
+							val buffer = ByteBuffer.wrap(dataReceived, i + 2, 8)
+							buffer.order(java.nio.ByteOrder.LITTLE_ENDIAN)
+							val addr = buffer.getLong() and 0xFFFFFFFFFFFF
+							val deviceName = String.format("%012X", addr)
+							HIDCommon.deviceIdLookup(devices, hidDevice.serialNumber, deviceId, deviceName, deviceList) // register device
+							// server wants tracker to be unique, so use combination of hid serial and full id
+							i += PACKET_SIZE
+							continue
+						}
+
+						val device: HIDDevice? = HIDCommon.deviceIdLookup(devices, hidDevice.serialNumber, deviceId, null, deviceList)
+						if (device == null) { // not registered yet
+							i += PACKET_SIZE
+							continue
+						}
+
+						HIDCommon.processPacket(dataReceived, i, packetType, device, q, a, m, trackersConsumer)
+						i += PACKET_SIZE
+					}
+					// LogManager.info("[TrackerServer] HID received $packetCount tracker packets")
+				} else {
+					lastDataByHID[hidDevice] = lastDataByHID[hidDevice]!! + 1 // increment last data received
+				}
+			}
+			if (!devicesPresent) {
+				sleep(10) // No hid device, "empty loop" so sleep to save the poor cpu
+			} else if (!devicesDataReceived) {
+				sleep(1) // read has no timeout, no data also causes an "empty loop"
+			}
+		}
+	}
+
+	private fun deviceEnumerate(requestPermission: Boolean = false) {
+		val hidDeviceList: MutableList<UsbDevice> = usbManager.deviceList.values.filter {
+			it.vendorId == HID_TRACKER_RECEIVER_VID && it.productId == HID_TRACKER_RECEIVER_PID
+		}.toMutableList()
+		synchronized(devicesByHID) {
+			// Work on devicesByHid and add/remove as necessary
+			val removeList: MutableList<UsbDevice> = devicesByHID.keys.toMutableList()
+			removeList.removeAll(hidDeviceList)
+			for (device in removeList) {
+				removeDevice(device)
+			}
+
+			hidDeviceList.removeAll(devicesByHID.keys) // addList
+			for (device in hidDeviceList) {
+				// This will handle permission check/request
+				checkConfigureDevice(device, requestPermission)
+			}
+		}
+	}
+
+	override fun run() {
+		val intentFilter = IntentFilter(UsbManager.ACTION_USB_DEVICE_ATTACHED)
+		intentFilter.addAction(UsbManager.ACTION_USB_DEVICE_DETACHED)
+		intentFilter.addAction(ACTION_USB_PERMISSION)
+
+		// Listen for USB device attach/detach
+		ContextCompat.registerReceiver(
+			context,
+			usbReceiver,
+			intentFilter,
+			ContextCompat.RECEIVER_NOT_EXPORTED,
+		)
+
+		// Enumerate existing devices
+		deviceEnumerate(true)
+
+		// Data read loop
+		while (true) {
+			try {
+				sleep(0) // Possible performance impact
+			} catch (e: InterruptedException) {
+				currentThread().interrupt()
+				break
+			}
+			dataRead() // not in try catch?
+		}
+	}
+
+	fun getDevices(): List<Device> = devices
+
+	companion object {
+		private const val resetSourceName = "TrackerServer"
+	}
+}

server/android/src/main/res/xml/device_filter.xml

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <usb-device vendor-id="4617" product-id="30352" />
+</resources>

server/core/src/main/java/dev/slimevr/protocol/rpc/RPCHandler.kt

@@ -34,7 +34,6 @@ import solarxr_protocol.rpc.*
 import kotlin.io.path.Path
 
 class RPCHandler(private val api: ProtocolAPI) : ProtocolHandler<RpcMessageHeader>() {
-	private var currTransactionId: Long = 0
 	private val mainScope = CoroutineScope(SupervisorJob())
 
 	init {
@@ -238,7 +237,7 @@ class RPCHandler(private val api: ProtocolAPI) : ProtocolHandler<RpcMessageHeade
 		val localIp = getLocalIp() ?: return
 		val response = ServerInfosResponse
 			.createServerInfosResponse(fbb, fbb.createString(localIp))
-		val outbound = this.createRPCMessage(fbb, RpcMessage.ServerInfosResponse, response)
+		val outbound = this.createRPCMessage(fbb, RpcMessage.ServerInfosResponse, response, messageHeader)
 		fbb.finish(outbound)
 		conn.send(fbb.dataBuffer())
 	}
@@ -251,7 +250,7 @@ class RPCHandler(private val api: ProtocolAPI) : ProtocolHandler<RpcMessageHeade
 		val config = api.server.configManager.vrConfig.overlay
 		val response = OverlayDisplayModeResponse
 			.createOverlayDisplayModeResponse(fbb, config.isVisible, config.isMirrored)
-		val outbound = this.createRPCMessage(fbb, RpcMessage.OverlayDisplayModeResponse, response)
+		val outbound = this.createRPCMessage(fbb, RpcMessage.OverlayDisplayModeResponse, response, messageHeader)
 		fbb.finish(outbound)
 		conn.send(fbb.dataBuffer())
 	}
@@ -283,7 +282,7 @@ class RPCHandler(private val api: ProtocolAPI) : ProtocolHandler<RpcMessageHeade
 		// might not be a good idea maybe let the client ask again
 		val fbb = FlatBufferBuilder(300)
 		val config = createSkeletonConfig(fbb, api.server.humanPoseManager)
-		val outbound = this.createRPCMessage(fbb, RpcMessage.SkeletonConfigResponse, config)
+		val outbound = this.createRPCMessage(fbb, RpcMessage.SkeletonConfigResponse, config, messageHeader)
 		fbb.finish(outbound)
 		conn.send(fbb.dataBuffer())
 	}
@@ -297,7 +296,7 @@ class RPCHandler(private val api: ProtocolAPI) : ProtocolHandler<RpcMessageHeade
 
 		val fbb = FlatBufferBuilder(300)
 		val config = createSkeletonConfig(fbb, api.server.humanPoseManager)
-		val outbound = this.createRPCMessage(fbb, RpcMessage.SkeletonConfigResponse, config)
+		val outbound = this.createRPCMessage(fbb, RpcMessage.SkeletonConfigResponse, config, messageHeader)
 		fbb.finish(outbound)
 		conn.send(fbb.dataBuffer())
 	}
@@ -332,7 +331,7 @@ class RPCHandler(private val api: ProtocolAPI) : ProtocolHandler<RpcMessageHeade
 		val fbb = FlatBufferBuilder(40)
 		val status = RecordBVHStatus
 			.createRecordBVHStatus(fbb, api.server.bvhRecorder.isRecording)
-		val outbound = this.createRPCMessage(fbb, RpcMessage.RecordBVHStatus, status)
+		val outbound = this.createRPCMessage(fbb, RpcMessage.RecordBVHStatus, status, messageHeader)
 		fbb.finish(outbound)
 		conn.send(fbb.dataBuffer())
 	}
@@ -343,7 +342,7 @@ class RPCHandler(private val api: ProtocolAPI) : ProtocolHandler<RpcMessageHeade
 		val fbb = FlatBufferBuilder(40)
 		val status = RecordBVHStatus
 			.createRecordBVHStatus(fbb, api.server.bvhRecorder.isRecording)
-		val outbound = this.createRPCMessage(fbb, RpcMessage.RecordBVHStatus, status)
+		val outbound = this.createRPCMessage(fbb, RpcMessage.RecordBVHStatus, status, messageHeader)
 		fbb.finish(outbound)
 		conn.send(fbb.dataBuffer())
 	}
@@ -495,13 +494,16 @@ class RPCHandler(private val api: ProtocolAPI) : ProtocolHandler<RpcMessageHeade
 		}
 	}
 
-	fun createRPCMessage(fbb: FlatBufferBuilder, messageType: Byte, messageOffset: Int): Int {
+	@JvmOverloads
+	fun createRPCMessage(fbb: FlatBufferBuilder, messageType: Byte, messageOffset: Int, respondTo: RpcMessageHeader? = null): Int {
 		val data = IntArray(1)
 
 		RpcMessageHeader.startRpcMessageHeader(fbb)
 		RpcMessageHeader.addMessage(fbb, messageOffset)
 		RpcMessageHeader.addMessageType(fbb, messageType)
-		RpcMessageHeader.addTxId(fbb, TransactionId.createTransactionId(fbb, currTransactionId++))
+		respondTo?.txId()?.let { txId ->
+			RpcMessageHeader.addTxId(fbb, TransactionId.createTransactionId(fbb, txId.id()))
+		}
 		data[0] = RpcMessageHeader.endRpcMessageHeader(fbb)
 
 		val messages = MessageBundle.createRpcMsgsVector(fbb, data)
@@ -525,7 +527,7 @@ class RPCHandler(private val api: ProtocolAPI) : ProtocolHandler<RpcMessageHeade
 		val response = StatusSystemResponseT()
 		response.currentStatuses = statuses
 		val offset = StatusSystemResponse.pack(fbb, response)
-		val outbound = this.createRPCMessage(fbb, RpcMessage.StatusSystemResponse, offset)
+		val outbound = this.createRPCMessage(fbb, RpcMessage.StatusSystemResponse, offset, messageHeader)
 		fbb.finish(outbound)
 		conn.send(fbb.dataBuffer())
 	}
@@ -557,7 +559,7 @@ class RPCHandler(private val api: ProtocolAPI) : ProtocolHandler<RpcMessageHeade
 					0f,
 				)
 		}
-		fbb.finish(createRPCMessage(fbb, RpcMessage.HeightResponse, response))
+		fbb.finish(createRPCMessage(fbb, RpcMessage.HeightResponse, response, messageHeader))
 		conn.send(fbb.dataBuffer())
 	}
 
@@ -572,7 +574,7 @@ class RPCHandler(private val api: ProtocolAPI) : ProtocolHandler<RpcMessageHeade
 				0,
 				api.server.configManager.vrConfig.server.useMagnetometerOnAllTrackers,
 			)
-			fbb.finish(createRPCMessage(fbb, RpcMessage.MagToggleResponse, response))
+			fbb.finish(createRPCMessage(fbb, RpcMessage.MagToggleResponse, response, messageHeader))
 			conn.send(fbb.dataBuffer())
 			return
 		}
@@ -584,7 +586,7 @@ class RPCHandler(private val api: ProtocolAPI) : ProtocolHandler<RpcMessageHeade
 			trackerId,
 			tracker.config.shouldHaveMagEnabled == true,
 		)
-		fbb.finish(createRPCMessage(fbb, RpcMessage.MagToggleResponse, response))
+		fbb.finish(createRPCMessage(fbb, RpcMessage.MagToggleResponse, response, messageHeader))
 		conn.send(fbb.dataBuffer())
 	}
 
@@ -604,7 +606,7 @@ class RPCHandler(private val api: ProtocolAPI) : ProtocolHandler<RpcMessageHeade
 					0,
 					api.server.configManager.vrConfig.server.useMagnetometerOnAllTrackers,
 				)
-				fbb.finish(createRPCMessage(fbb, RpcMessage.MagToggleResponse, response))
+				fbb.finish(createRPCMessage(fbb, RpcMessage.MagToggleResponse, response, messageHeader))
 				conn.send(fbb.dataBuffer())
 			}
 			return
@@ -623,7 +625,7 @@ class RPCHandler(private val api: ProtocolAPI) : ProtocolHandler<RpcMessageHeade
 				trackerId,
 				state,
 			)
-			fbb.finish(createRPCMessage(fbb, RpcMessage.MagToggleResponse, response))
+			fbb.finish(createRPCMessage(fbb, RpcMessage.MagToggleResponse, response, messageHeader))
 			conn.send(fbb.dataBuffer())
 			return
 		}
@@ -640,7 +642,7 @@ class RPCHandler(private val api: ProtocolAPI) : ProtocolHandler<RpcMessageHeade
 				trackerId,
 				state,
 			)
-			fbb.finish(createRPCMessage(fbb, RpcMessage.MagToggleResponse, response))
+			fbb.finish(createRPCMessage(fbb, RpcMessage.MagToggleResponse, response, messageHeader))
 			conn.send(fbb.dataBuffer())
 		}
 	}
@@ -660,7 +662,7 @@ class RPCHandler(private val api: ProtocolAPI) : ProtocolHandler<RpcMessageHeade
 
 		configManager.saveConfig()
 
-		sendSettingsChangedResponse(conn)
+		sendSettingsChangedResponse(conn, messageHeader)
 	}
 
 	private fun onDetectStayAlignedRelaxedPoseRequest(conn: GenericConnection, messageHeader: RpcMessageHeader) {
@@ -692,7 +694,7 @@ class RPCHandler(private val api: ProtocolAPI) : ProtocolHandler<RpcMessageHeade
 
 		LogManager.info("[detectStayAlignedRelaxedPose] pose=$pose $relaxedPose")
 
-		sendSettingsChangedResponse(conn)
+		sendSettingsChangedResponse(conn, messageHeader)
 	}
 
 	private fun onResetStayAlignedRelaxedPoseRequest(conn: GenericConnection, messageHeader: RpcMessageHeader) {
@@ -720,13 +722,13 @@ class RPCHandler(private val api: ProtocolAPI) : ProtocolHandler<RpcMessageHeade
 
 		LogManager.info("[resetStayAlignedRelaxedPose] pose=$pose")
 
-		sendSettingsChangedResponse(conn)
+		sendSettingsChangedResponse(conn, messageHeader)
 	}
 
-	fun sendSettingsChangedResponse(conn: GenericConnection) {
+	fun sendSettingsChangedResponse(conn: GenericConnection, messageHeader: RpcMessageHeader?) {
 		val fbb = FlatBufferBuilder(32)
 		val settings = RPCSettingsBuilder.createSettingsResponse(fbb, api.server)
-		val outbound = createRPCMessage(fbb, RpcMessage.SettingsResponse, settings)
+		val outbound = createRPCMessage(fbb, RpcMessage.SettingsResponse, settings, messageHeader)
 		fbb.finish(outbound)
 		conn.send(fbb.dataBuffer())
 	}

server/core/src/main/java/dev/slimevr/protocol/rpc/settings/RPCSettingsHandler.kt

@@ -39,7 +39,7 @@ class RPCSettingsHandler(var rpcHandler: RPCHandler, var api: ProtocolAPI) {
 	}
 
 	fun onSettingsRequest(conn: GenericConnection, messageHeader: RpcMessageHeader?) {
-		rpcHandler.sendSettingsChangedResponse(conn)
+		rpcHandler.sendSettingsChangedResponse(conn, messageHeader)
 	}
 
 	fun onChangeSettingsRequest(conn: GenericConnection?, messageHeader: RpcMessageHeader) {

server/core/src/main/java/dev/slimevr/protocol/rpc/trackingpause/RPCTrackingPause.kt

@@ -28,16 +28,16 @@ class RPCTrackingPause(private val rpcHandler: RPCHandler, private val api: Prot
 		}
 	}
 
-	private fun getPauseStateResponse(trackingPaused: Boolean): ByteBuffer {
+	private fun getPauseStateResponse(trackingPaused: Boolean, messageHeader: RpcMessageHeader? = null): ByteBuffer {
 		val fbb = FlatBufferBuilder(32)
 		val state = TrackingPauseStateResponse.createTrackingPauseStateResponse(fbb, trackingPaused)
-		val outbound = rpcHandler.createRPCMessage(fbb, RpcMessage.TrackingPauseStateResponse, state)
+		val outbound = rpcHandler.createRPCMessage(fbb, RpcMessage.TrackingPauseStateResponse, state, messageHeader)
 		fbb.finish(outbound)
 		return fbb.dataBuffer()
 	}
 
 	private fun onTrackingPauseStateRequest(conn: GenericConnection, messageHeader: RpcMessageHeader) {
-		conn.send(getPauseStateResponse(currentPauseState))
+		conn.send(getPauseStateResponse(currentPauseState, messageHeader))
 	}
 
 	override fun onTrackingPause(trackingPaused: Boolean) {

server/core/src/main/java/dev/slimevr/tracking/processor/Constraint.kt

@@ -52,11 +52,13 @@ class Constraint(
 		if (constraintType == ConstraintType.COMPLETE) return thisBone.getGlobalRotation()
 
 		// If there is no parent and this is not a complete constraint accept the rotation as is.
-		if (thisBone.parent == null) return rotation
+		// TODO: This was changed due to a race condition with the RPC thread, see
+		//  https://github.com/SlimeVR/SlimeVR-Server/issues/1534 for more information.
+		val parent = thisBone.parent ?: return rotation
 
-		val localRotation = getLocalRotation(rotation, thisBone)
+		val localRotation = getLocalRotation(rotation, thisBone, parent)
 		val constrainedRotation = constraintFunction(localRotation, swingRad, twistRad, allowedDeviationRad)
-		return getWorldRotationFromLocal(constrainedRotation, thisBone)
+		return getWorldRotationFromLocal(constrainedRotation, thisBone, parent)
 	}
 
 	/**
@@ -90,14 +92,12 @@ class Constraint(
 				ConstraintType.LOOSE_HINGE -> looseHingeConstraint
 			}
 
-		private fun getLocalRotation(rotation: Quaternion, thisBone: Bone): Quaternion {
-			val parent = thisBone.parent!!
+		private fun getLocalRotation(rotation: Quaternion, thisBone: Bone, parent: Bone): Quaternion {
 			val localRotationOffset = parent.rotationOffset.inv() * thisBone.rotationOffset
 			return (parent.getGlobalRotation() * localRotationOffset).inv() * rotation
 		}
 
-		private fun getWorldRotationFromLocal(rotation: Quaternion, thisBone: Bone): Quaternion {
-			val parent = thisBone.parent!!
+		private fun getWorldRotationFromLocal(rotation: Quaternion, thisBone: Bone, parent: Bone): Quaternion {
 			val localRotationOffset = parent.rotationOffset.inv() * thisBone.rotationOffset
 			return (parent.getGlobalRotation() * localRotationOffset * rotation).unit()
 		}

server/core/src/main/java/dev/slimevr/tracking/processor/skeleton/LegTweaks.kt

@@ -650,26 +650,30 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 			var weightR = getFootPlantWeight(rightFootPosition)
 
 			// if foot trackers exist add to the weights
+			val leftFootYaw = isolateYaw(leftFootRotation)
 			if (leftFootTracker) {
 				weightL *= getRotationalDistanceToPlant(
 					leftFootRotation,
+					leftFootYaw,
 				)
 			}
+			val rightFootYaw = isolateYaw(rightFootRotation)
 			if (rightFootTracker) {
 				weightR *= getRotationalDistanceToPlant(
 					rightFootRotation,
+					rightFootYaw,
 				)
 			}
 
 			// perform the correction
 			leftFootRotation = leftFootRotation
 				.interpR(
-					isolateYaw(leftFootRotation),
+					leftFootYaw,
 					weightL * masterWeightL,
 				)
 			rightFootRotation = rightFootRotation
 				.interpR(
-					isolateYaw(rightFootRotation),
+					rightFootYaw,
 					weightR * masterWeightR,
 				)
 		}
@@ -805,8 +809,7 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 	}
 
 	// returns the amount to slerp for foot plant when foot trackers are active
-	private fun getRotationalDistanceToPlant(footRot: Quaternion): Float {
-		val footRotYaw: Quaternion = isolateYaw(footRot)
+	private fun getRotationalDistanceToPlant(footRot: Quaternion, footRotYaw: Quaternion): Float {
 		var angle = footRot.angleToR(footRotYaw)
 		angle = (angle / (2 * Math.PI)).toFloat()
 		angle = FastMath.clamp(
@@ -1005,12 +1008,9 @@ class LegTweaks(private val skeleton: HumanSkeleton) {
 		}
 	}
 
-	// remove the x and z components of the given quaternion
-	private fun isolateYaw(quaternion: Quaternion): Quaternion = Quaternion(
-		quaternion.w,
-		0f,
-		quaternion.y,
-		0f,
+	// isolate the euler yaw component of a given quaternion
+	private fun isolateYaw(quaternion: Quaternion): Quaternion = Quaternion.rotationAroundYAxis(
+		quaternion.toEulerAngles(EulerOrder.YZX).y,
 	)
 
 	// return a quaternion that has been rotated by the new pitch amount

server/core/src/main/java/dev/slimevr/tracking/trackers/hid/HIDCommon.kt

@@ -0,0 +1,325 @@
+package dev.slimevr.tracking.trackers.hid
+
+import com.jme3.math.FastMath
+import dev.slimevr.VRServer
+import dev.slimevr.tracking.trackers.Tracker
+import dev.slimevr.tracking.trackers.TrackerStatus
+import dev.slimevr.tracking.trackers.udp.BoardType
+import dev.slimevr.tracking.trackers.udp.IMUType
+import dev.slimevr.tracking.trackers.udp.MCUType
+import dev.slimevr.tracking.trackers.udp.MagnetometerStatus
+import io.eiren.util.logging.LogManager
+import io.github.axisangles.ktmath.Quaternion
+import io.github.axisangles.ktmath.Quaternion.Companion.fromRotationVector
+import io.github.axisangles.ktmath.Vector3
+import java.nio.ByteBuffer
+import java.util.function.Consumer
+import kotlin.collections.set
+import kotlin.math.PI
+import kotlin.math.cos
+import kotlin.math.sin
+import kotlin.math.sqrt
+
+/**
+ * A collection of shared HID functions between OS specific HID implementations.
+ */
+class HIDCommon {
+	companion object {
+		const val HID_TRACKER_RECEIVER_VID = 0x1209
+		const val HID_TRACKER_RECEIVER_PID = 0x7690
+
+		const val PACKET_SIZE = 16
+
+		private val AXES_OFFSET = fromRotationVector(-FastMath.HALF_PI, 0f, 0f)
+
+		fun deviceIdLookup(
+			hidDevices: MutableList<HIDDevice>,
+			hidSerialNumber: String?,
+			deviceId: Int,
+			deviceName: String? = null,
+			deviceList: MutableList<Int>,
+		): HIDDevice? {
+			synchronized(hidDevices) {
+				deviceList.map { hidDevices[it] }.find { it.hidId == deviceId }?.let { return it }
+				if (deviceName == null) { // not registered yet
+					return null
+				}
+				val device = HIDDevice(deviceId)
+				// server wants tracker to be unique, so use combination of hid serial and full id // TODO: use the tracker "address" instead
+				// TODO: the server should not setup any device, only when the receiver associates the id with the tracker "address" and sends this packet (0xff?) which it will do occasionally
+				// device.name = hidDevice.serialNumber ?: "Unknown HID Device"
+				// device.name += "-$deviceId"
+				device.name = deviceName
+				device.manufacturer = "HID Device" // TODO:
+				// device.manufacturer = hidDevice.manufacturer ?: "HID Device"
+// 			device.hardwareIdentifier = hidDevice.serialNumber // hardwareIdentifier is not used to identify the tracker, so also display the receiver serial
+// 			device.hardwareIdentifier += "-$deviceId/$deviceName" // receiver serial + assigned id in receiver + device address
+				device.hardwareIdentifier = deviceName // the rest of identifier wont fit in gui
+				hidDevices.add(device)
+				deviceList.add(hidDevices.size - 1)
+				VRServer.instance.deviceManager.addDevice(device) // actually add device to the server
+				LogManager
+					.info(
+						"[TrackerServer] Added device $deviceName for ${hidSerialNumber ?: "Unknown HID Device"}, id $deviceId",
+					)
+				return device
+			}
+		}
+
+		private fun setUpSensor(
+			device: HIDDevice,
+			trackerId: Int,
+			sensorType: IMUType,
+			sensorStatus: TrackerStatus,
+			magStatus: MagnetometerStatus,
+			trackersConsumer: Consumer<Tracker>,
+		) {
+			// LogManager.info("[TrackerServer] Sensor $trackerId for ${device.name}, status $sensorStatus")
+			var imuTracker = device.getTracker(trackerId)
+			if (imuTracker == null) {
+				var formattedHWID = device.hardwareIdentifier.replace(":", "").takeLast(5)
+				imuTracker = Tracker(
+					device,
+					VRServer.getNextLocalTrackerId(),
+					device.name + "/" + trackerId,
+					"Tracker $formattedHWID",
+					null,
+					trackerNum = trackerId,
+					hasRotation = true,
+					hasAcceleration = true,
+					userEditable = true,
+					imuType = sensorType,
+					allowFiltering = true,
+					needsReset = true,
+					needsMounting = true,
+					usesTimeout = false,
+					magStatus = magStatus,
+				)
+				// usesTimeout false because HID trackers aren't "Disconnected" unless receiver is physically removed probably
+				// TODO: Could tracker maybe use "Timed out" status without marking as disconnecting?
+				// TODO: can be marked as "Disconnected" by timeout if the tracker has enabled activity timeouts
+				device.trackers[trackerId] = imuTracker
+				trackersConsumer.accept(imuTracker)
+				imuTracker.status = sensorStatus
+				LogManager
+					.info(
+						"[TrackerServer] Added sensor $trackerId for ${device.name}, type $sensorType",
+					)
+			}
+		}
+
+		fun processPacket(
+			dataReceived: ByteArray,
+			i: Int,
+			packetType: Int,
+			device: HIDDevice,
+			q: IntArray,
+			a: IntArray,
+			m: IntArray,
+			trackersConsumer: Consumer<Tracker>,
+		) {
+			val trackerId = 0 // no concept of extensions
+
+			// Register tracker
+			if (packetType == 0) { // Tracker register packet (device info)
+				val imu_id = dataReceived[i + 8].toUByte().toInt()
+				val mag_id = dataReceived[i + 9].toUByte().toInt()
+				val sensorType = IMUType.getById(imu_id.toUInt())
+				// only able to register magnetometer status, not magnetometer type
+				val magStatus = MagnetometerStatus.getById(mag_id.toUByte())
+				if (sensorType != null && magStatus != null) {
+					setUpSensor(device, trackerId, sensorType, TrackerStatus.OK, magStatus, trackersConsumer)
+				}
+			}
+
+			val tracker: Tracker? = device.getTracker(trackerId)
+			if (tracker == null) { // not registered yet
+				return
+			}
+
+			// Packet data
+			var batt: Int? = null
+			var batt_v: Int? = null
+			var temp: Int? = null
+			var brd_id: Int? = null
+			var mcu_id: Int? = null
+			// var imu_id: Int? = null
+			// var mag_id: Int? = null
+			var fw_date: Int? = null
+			var fw_major: Int? = null
+			var fw_minor: Int? = null
+			var fw_patch: Int? = null
+			var svr_status: Int? = null
+			// var status: Int? = null // raw status from tracker
+			var rssi: Int? = null
+
+			// Tracker packets
+			when (packetType) {
+				0 -> { // device info
+					batt = dataReceived[i + 2].toUByte().toInt()
+					batt_v = dataReceived[i + 3].toUByte().toInt()
+					temp = dataReceived[i + 4].toUByte().toInt()
+					brd_id = dataReceived[i + 5].toUByte().toInt()
+					mcu_id = dataReceived[i + 6].toUByte().toInt()
+					// imu_id = dataReceived[i + 8].toUByte().toInt()
+					// mag_id = dataReceived[i + 9].toUByte().toInt()
+					// ushort little endian
+					fw_date = dataReceived[i + 11].toUByte().toInt() shl 8 or dataReceived[i + 10].toUByte().toInt()
+					fw_major = dataReceived[i + 12].toUByte().toInt()
+					fw_minor = dataReceived[i + 13].toUByte().toInt()
+					fw_patch = dataReceived[i + 14].toUByte().toInt()
+					rssi = dataReceived[i + 15].toUByte().toInt()
+				}
+
+				1 -> { // full precision quat and accel, no extra data
+					// Q15: 1 is represented as 0x7FFF, -1 as 0x8000
+					// The sender can use integer saturation to avoid overflow
+					for (j in 0..3) { // quat received as fixed Q15
+						// Q15 as short little endian
+						q[j] = dataReceived[i + 2 + j * 2 + 1].toInt() shl 8 or dataReceived[i + 2 + j * 2].toUByte().toInt()
+					}
+					for (j in 0..2) { // accel received as fixed 7, in m/s^2
+						// Q7 as short little endian
+						a[j] = dataReceived[i + 10 + j * 2 + 1].toInt() shl 8 or dataReceived[i + 10 + j * 2].toUByte().toInt()
+					}
+				}
+
+				2 -> { // reduced precision quat and accel with data
+					batt = dataReceived[i + 2].toUByte().toInt()
+					batt_v = dataReceived[i + 3].toUByte().toInt()
+					temp = dataReceived[i + 4].toUByte().toInt()
+					// quaternion is quantized as exponential map
+					// X = 10 bits, Y/Z = 11 bits
+					val buffer = ByteBuffer.wrap(dataReceived, i + 5, 4)
+					buffer.order(java.nio.ByteOrder.LITTLE_ENDIAN)
+					val q_buf = buffer.getInt().toUInt()
+					q[0] = (q_buf and 1023u).toInt()
+					q[1] = (q_buf shr 10 and 2047u).toInt()
+					q[2] = (q_buf shr 21 and 2047u).toInt()
+					for (j in 0..2) { // accel received as fixed 7, in m/s^2
+						// Q7 as short little endian
+						a[j] = dataReceived[i + 9 + j * 2 + 1].toInt() shl 8 or dataReceived[i + 9 + j * 2].toUByte().toInt()
+					}
+					rssi = dataReceived[i + 15].toUByte().toInt()
+				}
+
+				3 -> { // status
+					svr_status = dataReceived[i + 2].toUByte().toInt()
+					// status = dataReceived[i + 3].toUByte().toInt()
+					rssi = dataReceived[i + 15].toUByte().toInt()
+				}
+
+				4 -> { // full precision quat and mag, no extra data
+					for (j in 0..3) { // quat received as fixed Q15
+						// Q15 as short little endian
+						q[j] = dataReceived[i + 2 + j * 2 + 1].toInt() shl 8 or dataReceived[i + 2 + j * 2].toUByte().toInt()
+					}
+					for (j in 0..2) { // mag received as fixed 10, in gauss
+						// Q10 as short little endian
+						m[j] = dataReceived[i + 10 + j * 2 + 1].toInt() shl 8 or dataReceived[i + 10 + j * 2].toUByte().toInt()
+					}
+				}
+
+				else -> {
+				}
+			}
+
+			// Assign data
+			if (batt != null) {
+				tracker.batteryLevel = if (batt == 128) 1f else (batt and 127).toFloat()
+			}
+			// Server still won't display battery at 0% at all
+			if (batt_v != null) {
+				tracker.batteryVoltage = (batt_v.toFloat() + 245f) / 100f
+			}
+			if (temp != null) {
+				tracker.temperature = if (temp > 0) temp.toFloat() / 2f - 39f else null
+			}
+			// Range 1 - 255 -> -38.5 - +88.5 C
+			if (brd_id != null) {
+				val boardType = BoardType.getById(brd_id.toUInt())
+				if (boardType != null) {
+					device.boardType = boardType!!
+				}
+			}
+			if (mcu_id != null) {
+				val mcuType = MCUType.getById(mcu_id.toUInt())
+				if (mcuType != null) {
+					device.mcuType = mcuType!!
+				}
+			}
+			if (fw_date != null && fw_major != null && fw_minor != null && fw_patch != null) {
+				val firmwareYear = 2020 + (fw_date shr 9 and 127)
+				val firmwareMonth = fw_date shr 5 and 15
+				val firmwareDay = fw_date and 31
+				val firmwareDate = String.format("%04d-%02d-%02d", firmwareYear, firmwareMonth, firmwareDay)
+				device.firmwareVersion = "$fw_major.$fw_minor.$fw_patch (Build $firmwareDate)"
+			}
+			if (svr_status != null) {
+				val status = TrackerStatus.getById(svr_status)
+				if (status != null) {
+					tracker.status = status!!
+				}
+			}
+			if (rssi != null) {
+				tracker.signalStrength = -rssi
+			}
+
+			// Assign rotation and acceleration
+			if (packetType == 1 || packetType == 4) {
+				// The data comes in the same order as in the UDP protocol
+				// x y z w -> w x y z
+				var rot = Quaternion(q[3].toFloat(), q[0].toFloat(), q[1].toFloat(), q[2].toFloat())
+				val scaleRot = 1 / (1 shl 15).toFloat() // compile time evaluation
+				rot = AXES_OFFSET.times(scaleRot).times(rot) // no division
+				tracker.setRotation(rot)
+			}
+			if (packetType == 2) {
+				val v = floatArrayOf(q[0].toFloat(), q[1].toFloat(), q[2].toFloat()) // used q array for quantized data
+				v[0] /= (1 shl 10).toFloat()
+				v[1] /= (1 shl 11).toFloat()
+				v[2] /= (1 shl 11).toFloat()
+				for (i in 0..2) {
+					v[i] = v[i] * 2 - 1
+				}
+				// http://marc-b-reynolds.github.io/quaternions/2017/05/02/QuatQuantPart1.html#fnref:pos:3
+				// https://github.com/Marc-B-Reynolds/Stand-alone-junk/blob/559bd78893a3a95cdee1845834c632141b945a45/src/Posts/quatquant0.c#L898
+				val d = v[0] * v[0] + v[1] * v[1] + v[2] * v[2]
+				val invSqrtD = 1 / sqrt(d + 1e-6f)
+				val a = (PI.toFloat() / 2) * d * invSqrtD
+				val s = sin(a)
+				val k = s * invSqrtD
+				var rot = Quaternion(cos(a), k * v[0], k * v[1], k * v[2])
+				rot = AXES_OFFSET.times(rot) // no division
+				tracker.setRotation(rot)
+			}
+			if (packetType == 1 || packetType == 2) {
+				// Acceleration is in local device frame
+				// On flat surface / face up:
+				// Right side of the device is +X
+				// Front side (facing up) is +Z
+				// Mounted on body / standing up:
+				// Top side of the device is +Y
+				// Front side (facing out) is +Z
+				val scaleAccel = 1 / (1 shl 7).toFloat() // compile time evaluation
+				val acceleration = Vector3(a[0].toFloat(), a[1].toFloat(), a[2].toFloat()).times(scaleAccel) // no division
+				tracker.setAcceleration(acceleration)
+			}
+			if (packetType == 4) {
+				// Magnetometer is in local device frame
+				// On flat surface / face up:
+				// Right side of the device is +X
+				// Front side (facing up) is +Z
+				// Mounted on body / standing up:
+				// Top side of the device is +Y
+				// Front side (facing out) is +Z
+				val scaleMag = 1000 / (1 shl 10).toFloat() // compile time evaluation, and change gauss to milligauss
+				val magnetometer = Vector3(m[0].toFloat(), m[1].toFloat(), m[2].toFloat()).times(scaleMag) // no division
+				tracker.setMagVector(magnetometer)
+			}
+			if (packetType == 1 || packetType == 2 || packetType == 4) {
+				tracker.dataTick() // only data tick if there is rotation data
+			}
+		}
+	}
+}

server/core/src/main/java/dev/slimevr/tracking/trackers/hid/HIDDevice.kt

@@ -1,4 +1,4 @@
-package dev.slimevr.desktop.tracking.trackers.hid
+package dev.slimevr.tracking.trackers.hid
 
 import dev.slimevr.tracking.trackers.Device
 import dev.slimevr.tracking.trackers.Tracker

server/desktop/src/main/java/dev/slimevr/desktop/Main.kt

@@ -13,7 +13,7 @@ import dev.slimevr.desktop.platform.linux.UnixSocketBridge
 import dev.slimevr.desktop.platform.linux.UnixSocketRpcBridge
 import dev.slimevr.desktop.platform.windows.WindowsNamedPipeBridge
 import dev.slimevr.desktop.serial.DesktopSerialHandler
-import dev.slimevr.desktop.tracking.trackers.hid.TrackersHID
+import dev.slimevr.desktop.tracking.trackers.hid.DesktopHIDManager
 import dev.slimevr.tracking.trackers.Tracker
 import io.eiren.util.OperatingSystem
 import io.eiren.util.collections.FastList
@@ -132,7 +132,7 @@ fun main(args: Array<String>) {
 		NetworkProfileChecker(vrServer)
 
 		// Start service for USB HID trackers
-		TrackersHID(
+		DesktopHIDManager(
 			"Sensors HID service",
 		) { tracker: Tracker -> vrServer.registerTracker(tracker) }