Add monotonic update time to deviceIO, refactor get extensions.

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)

examples/oxr/python/test_modular.py

@@ -47,7 +47,7 @@
 
         # Test 4: Update and get data
         print("[Test 4] Testing data retrieval...")
-        if not session.update():
+        if not session.update(time.monotonic_ns()):
             print("❌ Update failed")
             sys.exit(1)
 
@@ -66,7 +66,7 @@
         )
 
         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 position: [{pos.x:.3f}, {pos.y:.3f}, {pos.z:.3f}]")
         else:
             print("  Left hand: inactive")
@@ -93,7 +93,7 @@
 
         try:
             while time.time() - start_time < 5.0:
-                if not session.update():
+                if not session.update(time.monotonic_ns()):
                     print("Update failed")
                     break
 
@@ -104,7 +104,7 @@
                     print(f"  [{elapsed:4.1f}s] Frame {frame_count:3d}:")
                     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}]"

examples/oxr/python/test_oak_camera.py

@@ -84,7 +84,9 @@ def _run_schema_pusher(
 
             while time.time() - start_time < duration:
                 plugin.check_health()
-                session.update()
+                if not session.update(time.monotonic_ns()):
+                    print("Session update failed, stopping")
+                    break
                 frame_count += 1
 
                 elapsed = time.time() - start_time

examples/oxr/python/test_session_sharing.py

@@ -86,11 +86,12 @@
 try:
     while time.time() - start_time < 5.0:
         # Both sessions update using the same underlying OpenXR session
-        if not session1.update():
+        now_ns = time.monotonic_ns()
+        if not session1.update(now_ns):
             print("Session 1 update failed")
             break
 
-        if not session2.update():
+        if not session2.update(now_ns):
             print("Session 2 update failed")
             break
 
@@ -104,7 +105,7 @@
 
             print(f"[{elapsed:4.1f}s] Frame {frame_count:3d}:")
             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:6.3f}, {pos.y:6.3f}, {pos.z:6.3f}]")
             else:
                 print("  Left hand:  inactive")

examples/oxr/python/test_synthetic_hands.py

@@ -100,7 +100,7 @@ def run_test():
                         print(f"Plugin crashed: {e}")
                         break
 
-                if not deviceio_session.update():
+                if not deviceio_session.update(time.monotonic_ns()):
                     print("  ✗ Reader session update failed")
                     break
 
@@ -111,14 +111,14 @@ def run_test():
                     print(f"Frame {frame_count}:")
                     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:.3f}, {pos.y:.3f}, {pos.z:.3f}]")
                     else:
                         print("  Left hand:   inactive")
                     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:.3f}, {pos.y:.3f}, {pos.z:.3f}]")
                     else:

examples/retargeting/python/sources_example.py

@@ -121,7 +121,7 @@ def main():
 
             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
 
@@ -195,7 +195,7 @@ def main():
                     )
                     if not left_hand.is_none:
                         left_positions = left_hand[HandInputIndex.JOINT_POSITIONS]
-                        wrist_idx = deviceio.JOINT_WRIST
+                        wrist_idx = deviceio.HandJoint.WRIST
                         wrist_pos = left_positions[wrist_idx]
                         print(
                             f"      Wrist: [{wrist_pos[0]:6.3f}, {wrist_pos[1]:6.3f}, {wrist_pos[2]:6.3f}]"
@@ -206,7 +206,7 @@ def main():
                     )
                     if not right_hand.is_none:
                         right_positions = right_hand[HandInputIndex.JOINT_POSITIONS]
-                        wrist_idx = deviceio.JOINT_WRIST
+                        wrist_idx = deviceio.HandJoint.WRIST
                         wrist_pos = right_positions[wrist_idx]
                         print(
                             f"      Wrist: [{wrist_pos[0]:6.3f}, {wrist_pos[1]:6.3f}, {wrist_pos[2]:6.3f}]"

examples/schemaio/frame_metadata_printer.cpp

@@ -17,6 +17,7 @@
 #include <deviceio_session/deviceio_session.hpp>
 #include <deviceio_trackers/frame_metadata_tracker_oak.hpp>
 #include <oxr/oxr_session.hpp>
+#include <time_utils/os_time.hpp>
 
 #include <chrono>
 #include <iostream>
@@ -107,7 +108,7 @@ try
 
     while (true)
     {
-        if (!session->update())
+        if (!session->update(core::os_monotonic_now_ns()))
         {
             std::cerr << "Update failed" << std::endl;
             break;

examples/schemaio/pedal_printer.cpp

@@ -18,6 +18,7 @@
 #include <deviceio_session/deviceio_session.hpp>
 #include <deviceio_trackers/generic_3axis_pedal_tracker.hpp>
 #include <oxr/oxr_session.hpp>
+#include <time_utils/os_time.hpp>
 
 #include <chrono>
 #include <iomanip>
@@ -69,7 +70,7 @@ try
     while (received_count < MAX_SAMPLES)
     {
         // Update session (this calls update on all trackers)
-        if (!session->update())
+        if (!session->update(core::os_monotonic_now_ns()))
         {
             std::cerr << "Update failed" << std::endl;
             break;

src/core/CMakeLists.txt

@@ -9,7 +9,10 @@ option(BUILD_PYTHON_BINDINGS "Build Python bindings" ON)
 # Generated headers from FlatBuffer schemas with additional utilities.
 add_subdirectory(schema)
 
-# Build OXR Utils first - header-only utilities (no dependencies)
+# Platform time utilities (no OpenXR dependency)
+add_subdirectory(time_utils)
+
+# Build OXR Utils - header-only utilities (depends on time_utils for os_time)
 add_subdirectory(oxr_utils)
 
 # Build Plugin Manager

src/core/cloudxr/python/CMakeLists.txt

@@ -118,13 +118,3 @@ if(CLOUDXR_NATIVE_AVAILABLE)
         add_dependencies(cloudxr_python cloudxr_native_bundle)
     endif()
 endif()
-
-install(
-    FILES
-        __init__.py
-        __main__.py
-        env_config.py
-        runtime.py
-        wss.py
-    DESTINATION "python/isaacteleop/cloudxr"
-)