Add monotonic update time to deviceIO

Move extension requirements from ITracker to live impls

Extension knowledge is an OpenXR live-session concern, not a tracker
concern. Remove get_required_extensions() from ITracker and
deviceio_trackers. Each LiveXxxTrackerImpl now declares its own
static required_extensions(), and LiveDeviceIOFactory aggregates them
via dynamic_cast dispatch. DeviceIOSession::get_required_extensions()
delegates to the factory.

Author: nvddr

docs/source/device/add_device.rst

@@ -115,14 +115,14 @@ tensor samples from OpenXR. Implement a concrete tracker class (e.g.
   ``ITrackerFactory``. The implementation uses double dispatch: call the factory method
   specific to your tracker type (e.g.
   ``factory.create_generic_3axis_pedal_tracker_impl(this)``) and return the resulting
-  ``std::unique_ptr<ITrackerImpl>``. The factory constructs an ``ITrackerImpl`` that holds
+  ``std::unique_ptr<ITrackerImpl>``. The factory constructs an   ``ITrackerImpl`` that holds
   a ``SchemaTracker``, builds a ``SchemaTrackerConfig`` from the tracker's stored
-  configuration, and implements ``update(XrTime)`` and
+  configuration, and implements ``update(int64_t target_monotonic_time_ns)`` and
   ``serialize_all(channel_index, callback)``.
 
 In the **Impl**:
 
-- **update()** — Call ``m_schema_reader.read_all_samples(pending_records)``. If the
+- **update(target_monotonic_time_ns)** — Call ``m_schema_reader.read_all_samples(pending_records)``. If the
   collection is not present, clear the tracked state (e.g. set ``m_tracked.data = nullptr``).
   Otherwise, deserialize the latest sample (or all samples) into your tracked type and
   keep the last one for ``get_data()``.
@@ -157,7 +157,7 @@ the collection and prints samples. Pattern (see :code-file:`examples/schemaio/pe
 2. Get required extensions with ``DeviceIOSession::get_required_extensions(trackers)`` and
    create an ``OpenXRSession``.
 3. Create a ``DeviceIOSession`` with ``DeviceIOSession::run(trackers, oxr_session->get_handles())``.
-4. Loop: call ``session->update()``, then read ``tracker->get_data(*session)``. If
+4. Loop: call ``session->update(core::os_monotonic_now_ns())``, then read ``tracker->get_data(*session)``. If
    ``tracked.data`` is non-null, use the latest sample; otherwise sleep briefly and repeat.
 
 Use the same ``collection_id`` (and optionally ``tensor_identifier``) as the plugin. See
@@ -213,5 +213,5 @@ Both exit after 100 samples, or press Ctrl+C to exit early.
   ``get_data(session)`` returning ``Generic3AxisPedalOutputTrackedT`` via the session’s
   ``Generic3AxisPedalTrackerImpl``.
 - **DeviceIOSession** — Session manager: collects required OpenXR extensions from registered
-  trackers, creates tracker implementations with session handles, and calls ``update()`` on all
-  trackers during the update loop.
+  trackers, creates tracker implementations with session handles, and calls
+  ``update(target_monotonic_time_ns)`` on all trackers during the update loop.

examples/lerobot/record.py

@@ -110,7 +110,7 @@ def main():
             try:
                 while time.time() - start_time < 10.0:
                     # Update session and all trackers
-                    if not session.update():
+                    if not session.update(time.monotonic_ns()):
                         print("Update failed")
                         break
 
@@ -130,13 +130,13 @@ def main():
                     right_pos = np.zeros(3, dtype=np.float32)
 
                     if left_tracked.data is not None and left_tracked.data.joints:
-                        wrist = left_tracked.data.joints.poses(deviceio.JOINT_WRIST)
+                        wrist = left_tracked.data.joints.poses(deviceio.HandJoint.WRIST)
                         if wrist.is_valid:
                             pos = wrist.pose.position
                             left_pos = np.array([pos.x, pos.y, pos.z], dtype=np.float32)
 
                     if right_tracked.data is not None and right_tracked.data.joints:
-                        wrist = right_tracked.data.joints.poses(deviceio.JOINT_WRIST)
+                        wrist = right_tracked.data.joints.poses(deviceio.HandJoint.WRIST)
                         if wrist.is_valid:
                             pos = wrist.pose.position
                             right_pos = np.array(

examples/oxr/cpp/oxr_session_sharing.cpp

@@ -5,6 +5,7 @@
 #include <deviceio_trackers/hand_tracker.hpp>
 #include <deviceio_trackers/head_tracker.hpp>
 #include <oxr/oxr_session.hpp>
+#include <time_utils/os_time.hpp>
 
 #include <chrono>
 #include <iostream>
@@ -76,13 +77,14 @@ try
     for (int i = 0; i < 10; ++i)
     {
         // Both sessions update using the same underlying OpenXR session
-        if (!session1->update())
+        const int64_t now_ns = core::os_monotonic_now_ns();
+        if (!session1->update(now_ns))
         {
             std::cerr << "Session 1 update failed" << std::endl;
             break;
         }
 
-        if (!session2->update())
+        if (!session2->update(now_ns))
         {
             std::cerr << "Session 2 update failed" << std::endl;
             break;

examples/oxr/cpp/oxr_simple_api_demo.cpp

@@ -5,6 +5,7 @@
 #include <deviceio_trackers/hand_tracker.hpp>
 #include <deviceio_trackers/head_tracker.hpp>
 #include <oxr/oxr_session.hpp>
+#include <time_utils/os_time.hpp>
 
 #include <iostream>
 #include <memory>
@@ -75,7 +76,7 @@ try
     for (int i = 0; i < 5; ++i)
     {
         // Session handles internal update() calls to trackers
-        if (!session->update())
+        if (!session->update(core::os_monotonic_now_ns()))
         {
             std::cerr << "Update failed" << std::endl;
             break;

examples/oxr/python/modular_example.py

@@ -61,7 +61,7 @@ def main():
             try:
                 while time.time() - start_time < 10.0:
                     # Update session and all trackers
-                    if not session.update():
+                    if not session.update(time.monotonic_ns()):
                         print("Update failed")
                         break
 
@@ -80,7 +80,7 @@ def main():
 
                         if left_tracked.data is not None:
                             pos = left_tracked.data.joints.poses(
-                                deviceio.JOINT_WRIST
+                                deviceio.HandJoint.WRIST
                             ).pose.position
                             print(
                                 f"  Left wrist:  [{pos.x:6.3f}, {pos.y:6.3f}, {pos.z:6.3f}]"
@@ -90,7 +90,7 @@ def main():
 
                         if right_tracked.data is not None:
                             pos = right_tracked.data.joints.poses(
-                                deviceio.JOINT_WRIST
+                                deviceio.HandJoint.WRIST
                             ).pose.position
                             print(
                                 f"  Right wrist: [{pos.x:6.3f}, {pos.y:6.3f}, {pos.z:6.3f}]"

examples/oxr/python/modular_example_with_mcap.py

@@ -71,7 +71,9 @@ def main():
             start_time = time.time()
 
             while time.time() - start_time < 30.0:
-                session.update()
+                if not session.update(time.monotonic_ns()):
+                    print("Session update failed, stopping")
+                    break
 
                 # Print every 60 frames (~1 second)
                 if frame_count % 60 == 0:

examples/oxr/python/test_controller_tracker.py

@@ -52,7 +52,7 @@
 
         # Test 4: Initial update
         print("[Test 4] Testing initial data retrieval...")
-        if not session.update():
+        if not session.update(time.monotonic_ns()):
             print("❌ Update failed")
             sys.exit(1)
 
@@ -105,7 +105,7 @@ def assert_trackers_consistent(label, ta, tb):
 
         try:
             while time.time() - start_time < 10.0:
-                if not session.update():
+                if not session.update(time.monotonic_ns()):
                     print("Update failed")
                     break
 

examples/oxr/python/test_extensions.py

@@ -9,6 +9,8 @@
 Useful when creating external OpenXR sessions.
 """
 
+import time
+
 import isaacteleop.deviceio as deviceio
 import isaacteleop.oxr as oxr
 
@@ -87,12 +89,12 @@
         print("  ✅ Initialized successfully")
 
         # Quick update test
-        if session.update():
+        if session.update(time.monotonic_ns()):
             left_tracked = hand.get_left_hand(session)
             head_tracked = head.get_head(session)
             print("  ✅ Update successful")
             if left_tracked.data is not None:
-                pos = left_tracked.data.joints.poses(deviceio.JOINT_WRIST).pose.position
+                pos = left_tracked.data.joints.poses(deviceio.HandJoint.WRIST).pose.position
                 print(f"    Left wrist: [{pos.x:.3f}, {pos.y:.3f}, {pos.z:.3f}]")
             else:
                 print("    Left hand:  inactive")

examples/oxr/python/test_full_body_tracker.py

@@ -57,7 +57,7 @@
 
             # Test 5: Initial update
             print("[Test 5] Testing initial data retrieval...")
-            if not session.update():
+            if not session.update(time.monotonic_ns()):
                 print("❌ Update failed")
                 sys.exit(1)
 
@@ -92,7 +92,7 @@
             last_status_print = start_time
 
             while time.time() - start_time < 10.0:
-                if not session.update():
+                if not session.update(time.monotonic_ns()):
                     print("Update failed")
                     break
 

examples/oxr/python/test_hand_inactive_on_plugin_stop.py

@@ -37,7 +37,7 @@ def poll_hands(hand_tracker, deviceio_session):
     Raises UpdateFailedError if the underlying DeviceIOSession update fails so
     callers can distinguish a session error from genuine hand inactivity.
     """
-    if not deviceio_session.update():
+    if not deviceio_session.update(time.monotonic_ns()):
         raise UpdateFailedError("deviceio_session.update() returned False")
     left = hand_tracker.get_left_hand(deviceio_session)
     right = hand_tracker.get_right_hand(deviceio_session)