Merge branch 'main' into fingertracking

Co-authored-by: Butterscotch! <bscotchvanilla@gmail.com>

.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

@@ -27,7 +27,7 @@ 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'
@@ -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

@@ -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'
@@ -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'
@@ -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'
@@ -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'
@@ -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'
@@ -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 }}"

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/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/protobuf_update.bat

@@ -1 +0,0 @@
-protoc --proto_path=../SlimeVR-OpenVR-Driver/src/bridge --java_out=./src/main/java ProtobufMessages.proto

server/core/src/main/java/dev/slimevr/VRServer.kt

@@ -10,6 +10,8 @@ import dev.slimevr.firmware.SerialFlashingHandler
 import dev.slimevr.games.vrchat.VRCConfigHandler
 import dev.slimevr.games.vrchat.VRCConfigHandlerStub
 import dev.slimevr.games.vrchat.VRChatConfigManager
+import dev.slimevr.inputs.Input
+import dev.slimevr.inputs.TapInputManager
 import dev.slimevr.osc.OSCHandler
 import dev.slimevr.osc.OSCRouter
 import dev.slimevr.osc.VMCHandler
@@ -117,6 +119,9 @@ class VRServer @JvmOverloads constructor(
 	@JvmField
 	val handshakeHandler = HandshakeHandler()
 
+	val tapInputManager: TapInputManager
+	val inputs: MutableList<Input> = FastList()
+
 	init {
 		// UwU
 		configManager = ConfigManager(configPath)
@@ -147,7 +152,9 @@ class VRServer @JvmOverloads constructor(
 		for (bridge in bridgeProvider(this, computedTrackers) + sequenceOf(WebSocketVRBridge(computedTrackers, this))) {
 			tasks.add(Runnable { bridge.startBridge() })
 			bridges.add(bridge)
+			bridge.addFingerBones(humanPoseManager.shareableFingerBones)
 		}
+		tapInputManager = TapInputManager(humanPoseManager.skeleton, this)
 
 		// Initialize OSC handlers
 		vrcOSCHandler = VRCOSCHandler(
@@ -245,11 +252,23 @@ class VRServer @JvmOverloads constructor(
 				tracker.tick(fpsTimer.timePerFrame)
 			}
 			humanPoseManager.update()
+
+			// Check for tap inputs
+			tapInputManager.update()
+			// Update bridges
 			for (bridge in bridges) {
+				// Send inputs to each bridge
+				for (input in inputs) {
+					bridge.sendInput(input)
+				}
 				bridge.dataWrite()
 			}
+			// Don't forget to clear inputs so that we don't send the same ones again
+			inputs.clear()
+
 			vrcOSCHandler.update()
 			vMCHandler.update()
+
 			// final long time = System.currentTimeMillis() - start;
 			try {
 				sleep(1) // 1000Hz

server/core/src/main/java/dev/slimevr/bridge/Bridge.kt

@@ -1,5 +1,7 @@
 package dev.slimevr.bridge
 
+import dev.slimevr.inputs.Input
+import dev.slimevr.tracking.processor.ShareableBone
 import dev.slimevr.tracking.trackers.Tracker
 import dev.slimevr.tracking.trackers.TrackerRole
 import dev.slimevr.util.ann.VRServerThread
@@ -38,6 +40,24 @@ interface Bridge {
 	@VRServerThread
 	fun removeSharedTracker(tracker: Tracker?)
 
+	/**
+	 * Adds a list of finger bones to the bridge. This should only be set
+	 * once the skeleton has initialized. Bridge will send finger data for
+	 * the hand trackers if it serves them.
+	 *
+	 * @param bones
+	 */
+	@VRServerThread
+	fun addFingerBones(bones: List<ShareableBone>)
+
+	/**
+	 * Reports a virtual controller input to the driver.
+	 *
+	 * @param input the object containing the data about the input
+	 */
+	@VRServerThread
+	fun sendInput(input: Input)
+
 	@VRServerThread
 	fun startBridge()
 

server/core/src/main/java/dev/slimevr/inputs/Input.kt

@@ -0,0 +1,8 @@
+package dev.slimevr.inputs
+
+class Input(val rightHand: Boolean, val type: InputType)
+
+enum class InputType {
+	DOUBLE_TAP,
+	TRIPLE_TAP,
+}

server/core/src/main/java/dev/slimevr/inputs/TapInputManager.kt

@@ -0,0 +1,98 @@
+package dev.slimevr.inputs
+
+import dev.slimevr.VRServer
+import dev.slimevr.tracking.processor.skeleton.HumanSkeleton
+import dev.slimevr.tracking.processor.skeleton.TapDetection
+import dev.slimevr.tracking.trackers.Tracker
+import dev.slimevr.util.ann.VRServerThread
+
+/**
+ * Handles tap detection for SteamVR virtual controller input
+ */
+class TapInputManager(
+	private val skeleton: HumanSkeleton,
+	private val vrServer: VRServer,
+) {
+
+	// tap detectors
+	private lateinit var leftDoubleDetector: TapDetection
+	private lateinit var leftTripleDetector: TapDetection
+	private lateinit var rightDoubleDetector: TapDetection
+	private lateinit var rightTripleDetector: TapDetection
+
+	val NS_CONVERTER: Float = 1.0e9f
+	private var doubleTapDelay = 0.25f * NS_CONVERTER
+
+	init {
+		reinit()
+	}
+
+	fun reinit() {
+		// Create tap detectors for both hands
+		leftDoubleDetector = TapDetection(skeleton, trackerToWatchLeftHand)
+		leftDoubleDetector.enabled = true
+		leftDoubleDetector.setMaxTaps(2)
+
+		leftTripleDetector = TapDetection(skeleton, trackerToWatchLeftHand)
+		leftTripleDetector.enabled = true
+		leftTripleDetector.setMaxTaps(3)
+
+		rightDoubleDetector = TapDetection(skeleton, trackerToWatchRightHand)
+		rightDoubleDetector.enabled = true
+		rightDoubleDetector.setMaxTaps(2)
+
+		rightTripleDetector = TapDetection(skeleton, trackerToWatchRightHand)
+		rightTripleDetector.enabled = true
+		rightTripleDetector.setMaxTaps(3)
+	}
+
+	@VRServerThread
+	fun update() {
+		// update the tap detectors
+		leftDoubleDetector.update()
+		leftTripleDetector.update()
+		rightDoubleDetector.update()
+		rightTripleDetector.update()
+
+		// check if any tap detectors have detected taps
+		if (3 <= leftTripleDetector.taps) {
+			leftTripleDetector.resetDetector()
+			leftDoubleDetector.resetDetector()
+			vrServer.inputs.add(Input(false, InputType.TRIPLE_TAP))
+		} else if (2 <= leftDoubleDetector.taps && System.nanoTime() - rightDoubleDetector.detectionTime > doubleTapDelay) {
+			leftTripleDetector.resetDetector()
+			leftDoubleDetector.resetDetector()
+			vrServer.inputs.add(Input(false, InputType.DOUBLE_TAP))
+		}
+
+		if (3 <= rightTripleDetector.taps) {
+			rightTripleDetector.resetDetector()
+			rightDoubleDetector.resetDetector()
+			vrServer.inputs.add(Input(true, InputType.TRIPLE_TAP))
+		} else if (2 <= rightDoubleDetector.taps && System.nanoTime() - rightDoubleDetector.detectionTime > doubleTapDelay) {
+			rightTripleDetector.resetDetector()
+			rightDoubleDetector.resetDetector()
+			vrServer.inputs.add(Input(true, InputType.DOUBLE_TAP))
+		}
+	}
+
+	private val trackerToWatchLeftHand: Tracker?
+		get() = listOfNotNull(
+			skeleton.leftHandTracker,
+			skeleton.leftLowerArmTracker,
+			skeleton.leftUpperArmTracker,
+			skeleton.leftThumbDistalTracker,
+			skeleton.leftThumbProximalTracker,
+			skeleton.leftThumbMetacarpalTracker,
+		).firstOrNull()
+
+	private val trackerToWatchRightHand: Tracker?
+		get() = listOfNotNull(
+			skeleton.rightHandTracker,
+			skeleton.rightLowerArmTracker,
+			skeleton.rightUpperArmTracker,
+			skeleton.rightThumbDistalTracker,
+			skeleton.rightThumbProximalTracker,
+			skeleton.rightThumbMetacarpalTracker,
+		).firstOrNull()
+}

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/RPCSettingsBuilder.java

@@ -61,8 +61,8 @@ public class RPCSettingsBuilder {
 					&& config.getOSCTrackerRole(TrackerRole.RIGHT_FOOT, false),
 				config.getOSCTrackerRole(TrackerRole.LEFT_ELBOW, false)
 					&& config.getOSCTrackerRole(TrackerRole.RIGHT_ELBOW, false),
-				config.getOSCTrackerRole(TrackerRole.LEFT_HAND, false)
-					&& config.getOSCTrackerRole(TrackerRole.RIGHT_HAND, false)
+				config.getOSCTrackerRole(TrackerRole.LEFT_CONTROLLER, false)
+					&& config.getOSCTrackerRole(TrackerRole.RIGHT_CONTROLLER, false)
 			);
 		VRCOSCSettings.startVRCOSCSettings(fbb);
 		VRCOSCSettings.addOscSettings(fbb, generalSettingOffset);
@@ -164,8 +164,8 @@ public class RPCSettingsBuilder {
 					bridge.getShareSetting(TrackerRole.RIGHT_KNEE),
 					bridge.getShareSetting(TrackerRole.LEFT_ELBOW),
 					bridge.getShareSetting(TrackerRole.RIGHT_ELBOW),
-					bridge.getShareSetting(TrackerRole.LEFT_HAND),
-					bridge.getShareSetting(TrackerRole.RIGHT_HAND)
+					bridge.getShareSetting(TrackerRole.LEFT_CONTROLLER),
+					bridge.getShareSetting(TrackerRole.RIGHT_CONTROLLER)
 				);
 		}
 		return steamvrTrackerSettings;

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) {
@@ -59,8 +59,8 @@ class RPCSettingsHandler(var rpcHandler: RPCHandler, var api: ProtocolAPI) {
 				bridge.changeShareSettings(TrackerRole.RIGHT_KNEE, req.steamVrTrackers().rightKnee())
 				bridge.changeShareSettings(TrackerRole.LEFT_ELBOW, req.steamVrTrackers().leftElbow())
 				bridge.changeShareSettings(TrackerRole.RIGHT_ELBOW, req.steamVrTrackers().rightElbow())
-				bridge.changeShareSettings(TrackerRole.LEFT_HAND, req.steamVrTrackers().leftHand())
-				bridge.changeShareSettings(TrackerRole.RIGHT_HAND, req.steamVrTrackers().rightHand())
+				bridge.changeShareSettings(TrackerRole.LEFT_CONTROLLER, req.steamVrTrackers().leftHand())
+				bridge.changeShareSettings(TrackerRole.RIGHT_CONTROLLER, req.steamVrTrackers().rightHand())
 				bridge.setAutomaticSharedTrackers(req.steamVrTrackers().automaticTrackerToggle())
 			}
 		}
@@ -128,8 +128,8 @@ class RPCSettingsHandler(var rpcHandler: RPCHandler, var api: ProtocolAPI) {
 				vrcOSCConfig.setOSCTrackerRole(TrackerRole.RIGHT_FOOT, trackers.feet())
 				vrcOSCConfig.setOSCTrackerRole(TrackerRole.LEFT_ELBOW, trackers.elbows())
 				vrcOSCConfig.setOSCTrackerRole(TrackerRole.RIGHT_ELBOW, trackers.elbows())
-				vrcOSCConfig.setOSCTrackerRole(TrackerRole.LEFT_HAND, trackers.hands())
-				vrcOSCConfig.setOSCTrackerRole(TrackerRole.RIGHT_HAND, trackers.hands())
+				vrcOSCConfig.setOSCTrackerRole(TrackerRole.LEFT_CONTROLLER, trackers.hands())
+				vrcOSCConfig.setOSCTrackerRole(TrackerRole.RIGHT_CONTROLLER, trackers.hands())
 			}
 			vrcOSCConfig.oscqueryEnabled = req.vrcOsc().oscqueryEnabled()
 

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/BoneType.kt

@@ -1,14 +1,58 @@
-package dev.slimevr.tracking.processor;
+@file:Suppress("ktlint:standard:no-wildcard-imports")
 
-import solarxr_protocol.datatypes.BodyPart;
+package dev.slimevr.tracking.processor
 
+import dev.slimevr.tracking.processor.BoneType.*
+import solarxr_protocol.datatypes.BodyPart
+
+fun BoneType?.isLeftFinger(): Boolean {
+	this?.let {
+		return it == LEFT_THUMB_METACARPAL ||
+			it == LEFT_THUMB_PROXIMAL ||
+			it == LEFT_THUMB_DISTAL ||
+			it == LEFT_INDEX_PROXIMAL ||
+			it == LEFT_INDEX_INTERMEDIATE ||
+			it == LEFT_INDEX_DISTAL ||
+			it == LEFT_MIDDLE_PROXIMAL ||
+			it == LEFT_MIDDLE_INTERMEDIATE ||
+			it == LEFT_MIDDLE_DISTAL ||
+			it == LEFT_RING_PROXIMAL ||
+			it == LEFT_RING_INTERMEDIATE ||
+			it == LEFT_RING_DISTAL ||
+			it == LEFT_LITTLE_PROXIMAL ||
+			it == LEFT_LITTLE_INTERMEDIATE ||
+			it == LEFT_LITTLE_DISTAL
+	}
+	return false
+}
+
+fun BoneType?.isRightFinger(): Boolean {
+	this?.let {
+		return it == RIGHT_THUMB_METACARPAL ||
+			it == RIGHT_THUMB_PROXIMAL ||
+			it == RIGHT_THUMB_DISTAL ||
+			it == RIGHT_INDEX_PROXIMAL ||
+			it == RIGHT_INDEX_INTERMEDIATE ||
+			it == RIGHT_INDEX_DISTAL ||
+			it == RIGHT_MIDDLE_PROXIMAL ||
+			it == RIGHT_MIDDLE_INTERMEDIATE ||
+			it == RIGHT_MIDDLE_DISTAL ||
+			it == RIGHT_RING_PROXIMAL ||
+			it == RIGHT_RING_INTERMEDIATE ||
+			it == RIGHT_RING_DISTAL ||
+			it == RIGHT_LITTLE_PROXIMAL ||
+			it == RIGHT_LITTLE_INTERMEDIATE ||
+			it == RIGHT_LITTLE_DISTAL
+	}
+	return false
+}
 
 /**
  * Keys for all the bones in the skeleton.
  */
-public enum BoneType {
+enum class BoneType {
 	HEAD(BodyPart.HEAD),
-	HEAD_TRACKER(),
+	HEAD_TRACKER,
 	NECK(BodyPart.NECK),
 	UPPER_CHEST(BodyPart.UPPER_CHEST),
 	CHEST_TRACKER,
@@ -71,17 +115,21 @@ public enum BoneType {
 	RIGHT_RING_DISTAL(BodyPart.RIGHT_RING_DISTAL),
 	RIGHT_LITTLE_PROXIMAL(BodyPart.RIGHT_LITTLE_PROXIMAL),
 	RIGHT_LITTLE_INTERMEDIATE(BodyPart.RIGHT_LITTLE_INTERMEDIATE),
-	RIGHT_LITTLE_DISTAL(BodyPart.RIGHT_LITTLE_DISTAL);
+	RIGHT_LITTLE_DISTAL(BodyPart.RIGHT_LITTLE_DISTAL),
+	;
 
-	public static final BoneType[] values = values();
+	@JvmField
+	val bodyPart: Int
 
-	public final int bodyPart;
-
-	BoneType() {
-		this.bodyPart = BodyPart.NONE;
+	constructor() {
+		this.bodyPart = BodyPart.NONE
 	}
 
-	BoneType(int associatedBodyPart) {
-		this.bodyPart = associatedBodyPart;
+	constructor(associatedBodyPart: Int) {
+		this.bodyPart = associatedBodyPart
+	}
+
+	companion object {
+		val values: Array<BoneType> = entries.toTypedArray()
 	}
 }

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()
 		}