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

@@ -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

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
 

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
 

examples/oxr/python/modular_example_with_mcap.py

@@ -71,7 +71,7 @@ def main():
             start_time = time.time()
 
             while time.time() - start_time < 30.0:
-                session.update()
+                session.update(time.monotonic_ns())
 
                 # 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
 
@@ -87,7 +89,7 @@
         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")

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)