fix(vendored-trackers): resolve code-review nits

- live-trackers: rename stale user-facing 'FullBodyTrackerPico' strings
  (log/limp-mode/exception) to the renamed public 'FullBodyTracker'.
- schema-tests: add compile-time coverage for the opt-in full_body_compat.hpp
  aliases so a mistyped ...Pico mapping can no longer ship silently.
- tensor-types: route NUM_BODY_JOINTS_PICO through the lazy deprecation
  __getattr__ (warns, dropped from __all__) like every sibling alias, and
  migrate its lone consumer (teleop_ros2 test_messages) to NUM_BODY_JOINTS.
- helpers: discover pipeline leaf nodes once in
  get_required_oxr_extensions_from_pipeline instead of traversing twice.
- teleop-session tests: correct the misleading LIVE-mode vendor test docstring
  to describe what it actually verifies (replay-only guard, deferred to enter).

Author: aristarkhovNV

examples/teleop_ros2/python/tests/test_messages.py

@@ -17,7 +17,7 @@
 from isaacteleop.retargeting_engine.tensor_types import (
     DLDataType,
     NDArrayType,
-    NUM_BODY_JOINTS_PICO,
+    NUM_BODY_JOINTS,
     NUM_HAND_JOINTS,
     ControllerInput,
     ControllerInputIndex,
@@ -73,11 +73,11 @@ def _active_controller() -> TensorGroup:
 
 def _active_full_body() -> TensorGroup:
     full_body = TensorGroup(FullBodyInput())
-    positions = np.zeros((NUM_BODY_JOINTS_PICO, 3), dtype=np.float32)
+    positions = np.zeros((NUM_BODY_JOINTS, 3), dtype=np.float32)
     positions[0] = [1.0, 2.0, 3.0]
-    orientations = np.zeros((NUM_BODY_JOINTS_PICO, 4), dtype=np.float32)
+    orientations = np.zeros((NUM_BODY_JOINTS, 4), dtype=np.float32)
     orientations[:, 3] = 1.0
-    valid = np.zeros(NUM_BODY_JOINTS_PICO, dtype=np.uint8)
+    valid = np.zeros(NUM_BODY_JOINTS, dtype=np.uint8)
     valid[0] = 1
 
     full_body[FullBodyInputIndex.JOINT_POSITIONS] = positions

src/core/live_trackers/cpp/live_full_body_tracker_pico_impl.cpp

@@ -58,7 +58,7 @@ LiveFullBodyTrackerPicoImpl::LiveFullBodyTrackerPicoImpl(const OpenXRSessionHand
         }
         if (!body_tracking_props.supportsBodyTracking)
         {
-            std::cerr << "[FullBodyTrackerPico] Body tracking not supported by this system, running in limp mode"
+            std::cerr << "[FullBodyTracker] Body tracking not supported by this system, running in limp mode"
                       << std::endl;
             return;
         }
@@ -85,7 +85,7 @@ LiveFullBodyTrackerPicoImpl::LiveFullBodyTrackerPicoImpl(const OpenXRSessionHand
         throw std::runtime_error("Failed to create body tracker: " + std::to_string(result));
     }
 
-    std::cout << "FullBodyTrackerPico initialized (24 joints)" << std::endl;
+    std::cout << "FullBodyTracker initialized (24 joints)" << std::endl;
 }
 
 LiveFullBodyTrackerPicoImpl::~LiveFullBodyTrackerPicoImpl()
@@ -127,7 +127,7 @@ void LiveFullBodyTrackerPicoImpl::update(int64_t monotonic_time_ns)
     if (XR_FAILED(result))
     {
         tracked_.data.reset();
-        throw std::runtime_error("[FullBodyTrackerPico] xrLocateBodyJointsBD failed: " + std::to_string(result));
+        throw std::runtime_error("[FullBodyTracker] xrLocateBodyJointsBD failed: " + std::to_string(result));
     }
 
     if (!tracked_.data)

src/core/retargeting_engine/python/tensor_types/__init__.py

@@ -16,7 +16,6 @@
     Generic3AxisPedalInput,
     NUM_HAND_JOINTS,
     NUM_BODY_JOINTS,
-    NUM_BODY_JOINTS_PICO,
     RobotHandJoints,
 )
 from .tactile_types import (
@@ -58,7 +57,6 @@
     "Generic3AxisPedalInput",
     "NUM_HAND_JOINTS",
     "NUM_BODY_JOINTS",
-    "NUM_BODY_JOINTS_PICO",
     "RobotHandJoints",
     # Tactile / haptic types
     "TactileVector",
@@ -84,7 +82,10 @@
 
 # Deprecated re-exports resolved lazily so access emits a DeprecationWarning; kept out
 # of __all__ and the eager imports above so importing this module stays quiet.
-_DEPRECATED_ALIASES = {"BodyJointPicoIndex": "BodyJointIndex"}
+_DEPRECATED_ALIASES = {
+    "BodyJointPicoIndex": "BodyJointIndex",
+    "NUM_BODY_JOINTS_PICO": "NUM_BODY_JOINTS",
+}
 
 
 def __getattr__(name: str):

src/core/retargeting_engine/python/tensor_types/standard_types.py

@@ -17,9 +17,6 @@
 NUM_HAND_JOINTS = 26  # XR_HAND_JOINT_COUNT_EXT from OpenXR
 NUM_BODY_JOINTS = 24  # XR_BODY_JOINT_COUNT_BD from XR_BD_body_tracking
 
-# Deprecated alias for NUM_BODY_JOINTS.
-NUM_BODY_JOINTS_PICO = NUM_BODY_JOINTS
-
 # ============================================================================
 # Hand Tracking Types
 # ============================================================================

src/core/schema_tests/cpp/test_full_body.cpp

@@ -45,6 +45,62 @@ static_assert(std::is_trivially_copyable_v<core::BodyJoints>, "BodyJoints should
 static_assert(sizeof(core::BodyJoints) == 24 * sizeof(core::BodyJointPose),
               "BodyJoints should contain exactly 24 BodyJointPose entries");
 
+// =============================================================================
+// Compile-time verification of the deprecated "...Pico" back-compat aliases.
+//
+// full_body_compat.hpp is an opt-in header: nothing else in-tree includes it and
+// the generated header does not pull it in, so without this block a mistyped alias
+// (e.g. BodyJointPico_HEAD mapped to BodyJoint_NECK) would compile and ship
+// silently. Lock every alias to its renamed target here, mirroring the Python
+// TestDeprecatedPicoAliases coverage. The references are intentionally to
+// [[deprecated]] names, so suppress that diagnostic for this block only.
+// =============================================================================
+#if defined(__GNUC__) || defined(__clang__)
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+#include <schema/full_body_compat.hpp>
+
+// Type aliases resolve to the renamed generated types.
+static_assert(std::is_same_v<core::FullBodyPosePico, core::FullBodyPose>);
+static_assert(std::is_same_v<core::FullBodyPosePicoT, core::FullBodyPoseT>);
+static_assert(std::is_same_v<core::FullBodyPosePicoTracked, core::FullBodyPoseTracked>);
+static_assert(std::is_same_v<core::FullBodyPosePicoTrackedT, core::FullBodyPoseTrackedT>);
+static_assert(std::is_same_v<core::FullBodyPosePicoRecord, core::FullBodyPoseRecord>);
+static_assert(std::is_same_v<core::FullBodyPosePicoRecordT, core::FullBodyPoseRecordT>);
+static_assert(std::is_same_v<core::BodyJointsPico, core::BodyJoints>);
+static_assert(std::is_same_v<core::BodyJointPico, core::BodyJoint>);
+
+// Every enumerator alias keeps its renamed target's numeric value.
+static_assert(core::BodyJointPico_PELVIS == core::BodyJoint_PELVIS);
+static_assert(core::BodyJointPico_LEFT_HIP == core::BodyJoint_LEFT_HIP);
+static_assert(core::BodyJointPico_RIGHT_HIP == core::BodyJoint_RIGHT_HIP);
+static_assert(core::BodyJointPico_SPINE1 == core::BodyJoint_SPINE1);
+static_assert(core::BodyJointPico_LEFT_KNEE == core::BodyJoint_LEFT_KNEE);
+static_assert(core::BodyJointPico_RIGHT_KNEE == core::BodyJoint_RIGHT_KNEE);
+static_assert(core::BodyJointPico_SPINE2 == core::BodyJoint_SPINE2);
+static_assert(core::BodyJointPico_LEFT_ANKLE == core::BodyJoint_LEFT_ANKLE);
+static_assert(core::BodyJointPico_RIGHT_ANKLE == core::BodyJoint_RIGHT_ANKLE);
+static_assert(core::BodyJointPico_SPINE3 == core::BodyJoint_SPINE3);
+static_assert(core::BodyJointPico_LEFT_FOOT == core::BodyJoint_LEFT_FOOT);
+static_assert(core::BodyJointPico_RIGHT_FOOT == core::BodyJoint_RIGHT_FOOT);
+static_assert(core::BodyJointPico_NECK == core::BodyJoint_NECK);
+static_assert(core::BodyJointPico_LEFT_COLLAR == core::BodyJoint_LEFT_COLLAR);
+static_assert(core::BodyJointPico_RIGHT_COLLAR == core::BodyJoint_RIGHT_COLLAR);
+static_assert(core::BodyJointPico_HEAD == core::BodyJoint_HEAD);
+static_assert(core::BodyJointPico_LEFT_SHOULDER == core::BodyJoint_LEFT_SHOULDER);
+static_assert(core::BodyJointPico_RIGHT_SHOULDER == core::BodyJoint_RIGHT_SHOULDER);
+static_assert(core::BodyJointPico_LEFT_ELBOW == core::BodyJoint_LEFT_ELBOW);
+static_assert(core::BodyJointPico_RIGHT_ELBOW == core::BodyJoint_RIGHT_ELBOW);
+static_assert(core::BodyJointPico_LEFT_WRIST == core::BodyJoint_LEFT_WRIST);
+static_assert(core::BodyJointPico_RIGHT_WRIST == core::BodyJoint_RIGHT_WRIST);
+static_assert(core::BodyJointPico_LEFT_HAND == core::BodyJoint_LEFT_HAND);
+static_assert(core::BodyJointPico_RIGHT_HAND == core::BodyJoint_RIGHT_HAND);
+static_assert(core::BodyJointPico_NUM_JOINTS == core::BodyJoint_NUM_JOINTS);
+#if defined(__GNUC__) || defined(__clang__)
+#pragma GCC diagnostic pop
+#endif
+
 // =============================================================================
 // Compile-time verification of BodyJoint enum.
 // =============================================================================

src/core/teleop_session_manager/python/helpers.py

@@ -104,8 +104,8 @@ def get_required_oxr_extensions_from_pipeline(pipeline: Any) -> List[str]:
     """
     import isaacteleop.deviceio as deviceio
 
-    trackers = _get_trackers_from_pipeline(pipeline)
     sources = _get_sources_from_pipeline(pipeline)
+    trackers = [source.get_tracker() for source in sources]
     vendor_config = build_vendor_config_from_sources(sources)
     extensions = deviceio.DeviceIOSession.get_required_extensions(
         trackers, vendor_config

src/core/teleop_session_manager_tests/python/test_teleop_session.py

@@ -2696,13 +2696,18 @@ def test_unvendored_source_in_replay_is_allowed(self):
         TeleopSession(config)  # get_vendor() is None -> no raise
 
     def test_vendored_source_in_live_is_allowed(self):
-        """LIVE mode honors the vendor, so construction must not raise."""
+        """A vendored source does not trip the replay-only guard in LIVE mode.
+
+        Construction must not raise: vendor validation is a live-session concern
+        deferred to session entry (``__enter__`` -> ``VendorConfig``), so unlike
+        REPLAY there is no construction-time rejection here.
+        """
         config = TeleopSessionConfig(
             app_name="test",
             pipeline=MockPipeline(leaf_nodes=[self._vendored_head_source()]),
             mode=SessionMode.LIVE,
         )
-        TeleopSession(config)  # live mode honors the vendor -> no raise
+        TeleopSession(config)  # replay-only guard does not fire in LIVE -> no raise
 
 
 class TestReplayModeSessionEnter: