Update timestamps to monotonic, and use Update timestamp for the mcap timestamp.

Author: nvddr

docs/source/device/add_device.rst

@@ -117,7 +117,7 @@ tensor samples from OpenXR. Implement a concrete tracker class (e.g.
 - **Factory registration** — Register your tracker in the live factory dispatch table
   (see ``LiveDeviceIOFactory``). 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 monotonic_time_ns)`` and
   ``serialize_all(channel_index, callback)``.
 
 In the **Impl**:

examples/lerobot/record.py

@@ -110,7 +110,7 @@ def main():
             try:
                 while time.time() - start_time < 10.0:
                     # Update session and all trackers
-                    session.update()
+                    session.update(time.monotonic_ns())
 
                     # Get hand data
                     left_tracked: schema.HandPoseTrackedT = hand_tracker.get_left_hand(

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 <oxr_utils/os_time.hpp>
 
 #include <chrono>
 #include <iostream>
@@ -76,8 +77,9 @@ try
     for (int i = 0; i < 10; ++i)
     {
         // Both sessions update using the same underlying OpenXR session
-        session1->update();
-        session2->update();
+        const int64_t graph_time_ns = core::os_monotonic_now_ns();
+        session1->update(graph_time_ns);
+        session2->update(graph_time_ns);
 
         // Get data from both trackers
         const auto& left_tracked = hand_tracker->get_left_hand(*session1);

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 <oxr_utils/os_time.hpp>
 
 #include <iostream>
 #include <memory>
@@ -76,7 +77,7 @@ try
     for (int i = 0; i < 5; ++i)
     {
         // Session handles internal update() calls to trackers
-        session->update();
+        session->update(core::os_monotonic_now_ns());
 
         // External user only uses public query methods
         const auto& left_tracked = hand_tracker->get_left_hand(*session);

examples/oxr/python/modular_example.py

@@ -60,7 +60,7 @@ def main():
 
             while time.time() - start_time < 10.0:
                 # Update session and all trackers
-                session.update()
+                session.update(time.monotonic_ns())
 
                 # Print every 60 frames (~1 second)
                 if frame_count % 60 == 0:

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

@@ -51,7 +51,7 @@
 
         # Test 4: Initial update
         print("[Test 4] Testing initial data retrieval...")
-        session.update()
+        session.update(time.monotonic_ns())
 
         print("✓ Update successful")
         print()
@@ -101,7 +101,7 @@ def assert_trackers_consistent(label, ta, tb):
         last_status_print = start_time
 
         while time.time() - start_time < 10.0:
-            session.update()
+            session.update(time.monotonic_ns())
 
             current_time = time.time()
             if current_time - last_status_print >= 0.5:

examples/oxr/python/test_extensions.py

@@ -9,6 +9,8 @@
 do not expose get_required_extensions().
 """
 
+import time
+
 import isaacteleop.deviceio as deviceio
 import isaacteleop.oxr as oxr
 
@@ -87,7 +89,7 @@
         print("  ✅ Initialized successfully")
 
         # Quick update test
-        session.update()
+        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

@@ -55,7 +55,7 @@
 
         # Test 5: Initial update
         print("[Test 5] Testing initial data retrieval...")
-        session.update()
+        session.update(time.monotonic_ns())
 
         print("✓ Update successful")
         print()
@@ -86,7 +86,7 @@
         last_status_print = start_time
 
         while time.time() - start_time < 10.0:
-            session.update()
+            session.update(time.monotonic_ns())
 
             # Get current body pose
             current_time = time.time()

examples/oxr/python/test_hand_inactive_on_plugin_stop.py

@@ -29,7 +29,7 @@
 
 def poll_hands(hand_tracker, deviceio_session):
     """Return (left_active, right_active) for the current frame."""
-    deviceio_session.update()
+    deviceio_session.update(time.monotonic_ns())
     left = hand_tracker.get_left_hand(deviceio_session)
     right = hand_tracker.get_right_hand(deviceio_session)
     return left.data is not None, right.data is not None