refactor(deviceio): generic FullBodyTracker + session-level vendor selection

docs/source/device/body_tracking.rst

@@ -6,7 +6,7 @@ Body Tracking
 
 Isaac Teleop supports streaming full-body tracking data from an XR headset
 through the CloudXR WebXR client to the teleop server. The server exposes the
-body skeleton to applications through the ``FullBodyTrackerPico`` tracker and
+body skeleton to applications through the ``FullBodyTracker`` tracker and
 the OpenXR ``XR_BD_body_tracking`` extension.
 
 Body tracking support currently targets the **PICO 4 Ultra Enterprise** with
@@ -183,10 +183,10 @@ Server-side access
 ~~~~~~~~~~~~~~~~~~
 
 On the server, body tracking data is consumed through the
-``FullBodyTrackerPico`` tracker (see :doc:`trackers` for the full tracker
+``FullBodyTracker`` tracker (see :doc:`trackers` for the full tracker
 reference). The tracker exposes a ``get_body_pose()`` method that returns the
 24-joint skeleton each frame (or null when body tracking is not available).
-Joint data follows the ``FullBodyPosePico`` FlatBuffers schema defined in
+Joint data follows the ``FullBodyPose`` FlatBuffers schema defined in
 ``src/core/schema/fbs/full_body.fbs``.
 
 The ``all_joint_poses_tracked`` quality flag indicates whether every joint was

docs/source/device/trackers.rst

@@ -14,7 +14,7 @@ APIs (``xrLocateSpace``, ``xrSyncActions``, etc.):
 - :code-file:`HeadTracker <src/core/deviceio_trackers/cpp/inc/deviceio_trackers/head_tracker.hpp>` -- HMD head pose
 - :code-file:`HandTracker <src/core/deviceio_trackers/cpp/inc/deviceio_trackers/hand_tracker.hpp>` -- articulated hand joints (left and right)
 - :code-file:`ControllerTracker <src/core/deviceio_trackers/cpp/inc/deviceio_trackers/controller_tracker.hpp>` -- controller poses and button/axis inputs (left and right)
-- :code-file:`FullBodyTrackerPico <src/core/deviceio_trackers/cpp/inc/deviceio_trackers/full_body_tracker_pico.hpp>` -- 24-joint full body pose (PICO ``XR_BD_body_tracking``)
+- :code-file:`FullBodyTracker <src/core/deviceio_trackers/cpp/inc/deviceio_trackers/full_body_tracker.hpp>` -- vendor-agnostic 24-joint full body pose; default vendor reads the PICO ``XR_BD_body_tracking`` extension (see `Vendor Selection`_)
 
 **SchemaTracker-based trackers** -- create new device type by defining a FlatBuffer schema and
 reading it from OpenXR tensor collections via the
@@ -185,22 +185,31 @@ axis inputs. Uses standard OpenXR action bindings.
   - :code-file:`examples/teleop/python/locomotion_retargeting_example.py`
   - :code-file:`examples/teleop/python/gripper_retargeting_example_simple.py`
 
-FullBodyTrackerPico
-~~~~~~~~~~~~~~~~~~~
+FullBodyTracker
+~~~~~~~~~~~~~~~
 
-Tracks 24 body joints on PICO devices using the ``XR_BD_body_tracking``
-extension.
+Tracks 24 body joints through a vendor-selected backend. The tracker itself is
+a vendor-agnostic marker and carries no vendor or live/replay state: a live
+session picks the backend via ``VendorConfig`` (see `Vendor Selection`_), and
+replay reads the recorded ``full_body`` channel regardless of which vendor
+produced it. When no vendor is selected, the default vendor ``body.pico-xr``
+reads the PICO ``XR_BD_body_tracking`` extension directly.
 
 - Schema: :code-file:`src/core/schema/fbs/full_body.fbs`
-- C++ header: ``#include <deviceio/full_body_tracker_pico.hpp>``
-- Python import: ``from isaacteleop.deviceio import FullBodyTrackerPico``
-- Record channels: ``full_body`` | MCAP schema: ``core.FullBodyPosePicoRecord``
+- C++ header: ``#include <deviceio_trackers/full_body_tracker.hpp>``
+- Python import: ``from isaacteleop.deviceio import FullBodyTracker``
+- Record channels: ``full_body`` | MCAP schema: ``core.FullBodyPoseRecord``
 - Tests:
 
   - :code-file:`src/core/schema_tests/cpp/test_full_body.cpp`
   - :code-file:`src/core/schema_tests/python/test_full_body.py`
   - :code-file:`examples/oxr/python/test_full_body_tracker.py`
 
+.. note::
+
+   ``FullBodyTrackerPico`` remains available as a deprecated alias for
+   ``FullBodyTracker`` so existing scripts run unchanged.
+
 FrameMetadataTrackerOak
 ~~~~~~~~~~~~~~~~~~~~~~~
 
@@ -248,6 +257,57 @@ utility internally.
    The Python method is named ``get_pedal_data()`` (instead of the C++
    ``get_data()``).
 
+.. _vendor-selection:
+
+Vendor Selection
+----------------
+
+Some trackers are **vendor-agnostic markers**: the tracker declares *what*
+device data it represents, while a live session chooses *which* backend
+("vendor") produces that data. This mirrors how live-vs-replay is chosen at the
+session level -- the same tracker instance works across vendors and across live
+and replay. ``FullBodyTracker`` is currently the only vendored tracker; its
+default vendor ``body.pico-xr`` reads the PICO ``XR_BD_body_tracking``
+extension.
+
+Select a vendor by passing a ``VendorConfig`` to both
+``DeviceIOSession.get_required_extensions()`` and ``DeviceIOSession.run()``. A
+``VendorConfig`` maps tracker instances to a ``TrackerVendor(id, params)``,
+where ``id`` selects the backend from the live factory's vendor registry and
+``params`` carries free-form string key/value options for it. Trackers left out
+of the config use their default vendor. Vendor selections on non-vendored
+trackers, and unknown vendor ids, are rejected at session construction.
+
+.. code-block:: python
+
+   import isaacteleop.deviceio as deviceio
+
+   body = deviceio.FullBodyTracker()
+
+   # Select the backend for the vendored tracker (default shown explicitly).
+   vendor_config = deviceio.VendorConfig([
+       (body, deviceio.TrackerVendor("body.pico-xr")),
+   ])
+
+   required_extensions = deviceio.DeviceIOSession.get_required_extensions(
+       [body], vendor_config
+   )
+   with deviceio.DeviceIOSession.run(
+       [body], handles, None, vendor_config
+   ) as session:
+       ...
+
+Replay is always vendor-neutral: the replay full-body impl reads the recorded
+``full_body`` channel regardless of which live vendor produced it, so
+``VendorConfig`` applies to live sessions only. The vendor registry is open for
+additional pre-built plugin vendors without changing the tracker marker.
+
+When driving devices through the higher-level teleop session manager, vendor
+selection is carried on the DeviceIO source itself via its ``vendor`` argument
+(e.g. ``FullBodySource(name="full_body", vendor=deviceio.TrackerVendor("body.pico-xr"))``),
+so it travels with the pipeline into both extension discovery and session
+construction; see :doc:`../getting_started/teleop_session`.
+
 .. _tracker-usage-example:
 
 Usage Examples

docs/source/getting_started/teleop_session.rst

@@ -115,6 +115,30 @@ argument is a ``uint64`` handle value.
        oxr_handles=handles,  # Skip internal OpenXR session creation
    )
 
+Tracker vendor selection
+""""""""""""""""""""""""
+
+In live mode, a vendored source selects the backend ("vendor") for its tracker
+-- for example which backend drives a ``FullBodySource``. The selection is
+carried **on the source** via its ``vendor`` argument, a
+``deviceio.TrackerVendor(id, params)``; sources left at the default use their
+tracker's default vendor. Because the vendor travels with the source, it is part
+of the pipeline: ``TeleopSession`` picks it up automatically, and
+``get_required_oxr_extensions_from_pipeline(pipeline)`` reports the matching
+OpenXR extensions with no extra argument (important for the external-``oxr_handles``
+flow). See :ref:`vendor-selection` for the underlying DeviceIO mechanism and the
+available vendor ids.
+
+.. code-block:: python
+
+   import isaacteleop.deviceio as deviceio
+   from isaacteleop.retargeting_engine.deviceio_source_nodes import FullBodySource
+
+   # Select the backend on the source; it flows through the pipeline into the session.
+   full_body = FullBodySource(
+       name="full_body", vendor=deviceio.TrackerVendor("body.pico-xr")
+   )
+
 Retargeting execution
 """""""""""""""""""""
 
@@ -382,7 +406,12 @@ The module also exports two utility functions:
 - ``get_required_oxr_extensions_from_pipeline(pipeline) -> List[str]`` --
   Discover the OpenXR extensions needed by a retargeting pipeline by
   traversing its DeviceIO source leaf nodes. Returns a sorted, deduplicated
-  list of extension name strings.
+  list of extension name strings. Extensions are vendor-dependent, but each
+  source carries its own vendor selection, so the result already reflects them
+  -- when you create the OpenXR session yourself and feed the handles in via
+  ``oxr_handles``, the enabled extensions match the session that gets built
+  with no extra argument. Select a vendor on the source (e.g.
+  ``FullBodySource(name="full_body", vendor=deviceio.TrackerVendor("body.pico-xr"))``).
 
 - ``create_standard_inputs(trackers) -> Dict[str, IDeviceIOSource]`` --
   Convenience function that creates ``HandsSource``, ``ControllersSource``,

examples/deviceio_live_view/python/deviceio_viser.py

@@ -23,14 +23,14 @@
 from isaacteleop.retargeting_engine.interface import OutputCombiner
 from isaacteleop.retargeting_engine.tensor_types import HandInputIndex
 from isaacteleop.retargeting_engine.tensor_types.indices import (
-    BodyJointPicoIndex,
+    BodyJointIndex,
     ControllerInputIndex,
     FullBodyInputIndex,
     HeadPoseIndex,
 )
 
 HANDS_CHANNEL = "hands"
-BODY_JOINT_NAMES = [joint.name for joint in BodyJointPicoIndex]
+BODY_JOINT_NAMES = [joint.name for joint in BodyJointIndex]
 
 # ---------------------------------------------------------------------------
 # Color palette shared across all viz scripts
@@ -61,7 +61,7 @@ def build_all_human_pipeline():
 
 
 # PICO body-joint connectivity (parent → child) for skeleton rendering.
-# Indices follow BodyJointPicoIndex: 0=PELVIS, 1/2=LEFT/RIGHT_HIP, 3/6/9=SPINE1/2/3,
+# Indices follow BodyJointIndex: 0=PELVIS, 1/2=LEFT/RIGHT_HIP, 3/6/9=SPINE1/2/3,
 # 4/5=LEFT/RIGHT_KNEE, 7/8=LEFT/RIGHT_ANKLE, 10/11=LEFT/RIGHT_FOOT, 12=NECK,
 # 13/14=LEFT/RIGHT_COLLAR, 15=HEAD, 16/17=LEFT/RIGHT_SHOULDER,
 # 18/19=LEFT/RIGHT_ELBOW, 20/21=LEFT/RIGHT_WRIST, 22/23=LEFT/RIGHT_HAND — 24 total.

examples/mcap_record_replay/python/common.py

@@ -39,7 +39,7 @@
     HandInputIndex,
 )
 from isaacteleop.retargeting_engine.tensor_types.indices import (
-    BodyJointPicoIndex,
+    BodyJointIndex,
     ControllerInputIndex,
 )
 from isaacteleop.retargeting_engine.tensor_types.ndarray_types import (
@@ -52,7 +52,7 @@
 
 
 HANDS_CHANNEL = "hands"
-BODY_JOINT_NAMES = [joint.name for joint in BodyJointPicoIndex]
+BODY_JOINT_NAMES = [joint.name for joint in BodyJointIndex]
 
 # ---------------------------------------------------------------------------
 # Color palette shared across all viz scripts
@@ -149,7 +149,7 @@ def build_full_body_pipeline():
 
 
 # PICO body-joint connectivity (parent → child) for skeleton rendering.
-# Indices follow BodyJointPicoIndex: 0=PELVIS, 1/2=LEFT/RIGHT_HIP, 3/6/9=SPINE1/2/3,
+# Indices follow BodyJointIndex: 0=PELVIS, 1/2=LEFT/RIGHT_HIP, 3/6/9=SPINE1/2/3,
 # 4/5=LEFT/RIGHT_KNEE, 7/8=LEFT/RIGHT_ANKLE, 10/11=LEFT/RIGHT_FOOT, 12=NECK,
 # 13/14=LEFT/RIGHT_COLLAR, 15=HEAD, 16/17=LEFT/RIGHT_SHOULDER,
 # 18/19=LEFT/RIGHT_ELBOW, 20/21=LEFT/RIGHT_WRIST, 22/23=LEFT/RIGHT_HAND — 24 total.

examples/oxr/python/test_full_body_tracker.py

@@ -1,12 +1,12 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
 """
-Test script for FullBodyTrackerPico with XR_BD_body_tracking extension.
+Test script for FullBodyTracker with XR_BD_body_tracking extension.
 
 Demonstrates:
 - Getting full body pose data (24 joints from pelvis to hands)
-- Requires PICO device with body tracking support
+- Requires PICO device with body tracking support (default "body.pico-xr" vendor)
 """
 
 import time
@@ -22,7 +22,7 @@
 
 # Test 1: Create full body tracker
 print("[Test 1] Creating full body tracker...")
-body_tracker = deviceio.FullBodyTrackerPico()
+body_tracker = deviceio.FullBodyTracker()
 print(f"✓ {body_tracker.get_name()} created")
 print()
 
@@ -33,10 +33,10 @@
 print(f"Required extensions: {required_extensions}")
 print()
 
-# Test 3: Show joint names from schema (BodyJointPico enum)
-print(f"[Test 3] Body joint names ({schema.BodyJointPico.NUM_JOINTS} joints):")
-for i in range(schema.BodyJointPico.NUM_JOINTS):
-    print(f"  [{i:2d}] {schema.BodyJointPico(i).name}")
+# Test 3: Show joint names from schema (BodyJoint enum)
+print(f"[Test 3] Body joint names ({schema.BodyJoint.NUM_JOINTS} joints):")
+for i in range(schema.BodyJoint.NUM_JOINTS):
+    print(f"  [{i:2d}] {schema.BodyJoint(i).name}")
 print()
 
 # Test 4: Initialize
@@ -70,10 +70,10 @@
         if body_tracked.data is not None:
             valid_count = sum(
                 1
-                for i in range(schema.BodyJointPico.NUM_JOINTS)
+                for i in range(schema.BodyJoint.NUM_JOINTS)
                 if body_tracked.data.joints.joints(i).is_valid
             )
-            print(f"  Valid joints: {valid_count}/{schema.BodyJointPico.NUM_JOINTS}")
+            print(f"  Valid joints: {valid_count}/{schema.BodyJoint.NUM_JOINTS}")
         print()
 
         # Test 7: Run tracking loop
@@ -96,10 +96,10 @@
 
                 if body_tracked.data is not None:
                     pelvis_pos = body_tracked.data.joints.joints(
-                        int(schema.BodyJointPico.PELVIS)
+                        int(schema.BodyJoint.PELVIS)
                     ).pose.position
                     head_pos = body_tracked.data.joints.joints(
-                        int(schema.BodyJointPico.HEAD)
+                        int(schema.BodyJoint.HEAD)
                     ).pose.position
                     print(
                         f"  [{elapsed:5.2f}s] Frame {frame_count:4d}"
@@ -128,9 +128,9 @@
         if body_tracked.data is not None:
             print()
             print("  Joint positions:")
-            for i in range(schema.BodyJointPico.NUM_JOINTS):
+            for i in range(schema.BodyJoint.NUM_JOINTS):
                 joint = body_tracked.data.joints.joints(i)
-                name = schema.BodyJointPico(i).name
+                name = schema.BodyJoint(i).name
                 pos = joint.pose.position
                 rot = joint.pose.orientation
                 print(

examples/teleop_ros2/cpp/integration_tests/mcap_generator.cpp

@@ -27,7 +27,7 @@ using ControllerChannels = core::McapTrackerChannels<core::ControllerSnapshotRec
 using HandChannels = core::McapTrackerChannels<core::HandPoseRecord, core::HandPose>;
 using HeadChannels = core::McapTrackerChannels<core::HeadPoseRecord, core::HeadPose>;
 using PedalChannels = core::McapTrackerChannels<core::Generic3AxisPedalOutputRecord, core::Generic3AxisPedalOutput>;
-using FullBodyChannels = core::McapTrackerChannels<core::FullBodyPosePicoRecord, core::FullBodyPosePico>;
+using FullBodyChannels = core::McapTrackerChannels<core::FullBodyPoseRecord, core::FullBodyPose>;
 
 constexpr int kDefaultFrameCount = 1800;
 constexpr int64_t kFramePeriodNs = 16'666'667;
@@ -113,12 +113,12 @@ std::shared_ptr<core::Generic3AxisPedalOutputT> make_pedal_sample(int frame)
     return sample;
 }
 
-std::shared_ptr<core::FullBodyPosePicoT> make_full_body_sample(int frame)
+std::shared_ptr<core::FullBodyPoseT> make_full_body_sample(int frame)
 {
     const float delta = kDriftRatePerFrameM * static_cast<float>(frame);
-    auto sample = std::make_shared<core::FullBodyPosePicoT>();
-    sample->joints = std::make_unique<core::BodyJointsPico>();
-    for (int joint = 0; joint < core::BodyJointPico_NUM_JOINTS; ++joint)
+    auto sample = std::make_shared<core::FullBodyPoseT>();
+    sample->joints = std::make_unique<core::BodyJoints>();
+    for (int joint = 0; joint < core::BodyJoint_NUM_JOINTS; ++joint)
     {
         // Per-joint offsets spread the joints into a plausible-looking body layout.
         const float joint_f = static_cast<float>(joint);
@@ -157,15 +157,15 @@ void write_fixture(const std::filesystem::path& output_path, int frame_count)
     const auto hand_names = to_strings(core::HandRecordingTraits::recording_channels);
     const auto head_names = to_strings(core::HeadRecordingTraits::recording_channels);
     const auto pedal_names = to_strings(core::PedalRecordingTraits::recording_channels);
-    const auto full_body_names = to_strings(core::FullBodyPicoRecordingTraits::recording_channels);
+    const auto full_body_names = to_strings(core::FullBodyRecordingTraits::recording_channels);
 
     ControllerChannels controller_channels(
         *writer, "controllers", core::ControllerRecordingTraits::schema_name, controller_names);
     HandChannels hand_channels(*writer, "hands", core::HandRecordingTraits::schema_name, hand_names);
     HeadChannels head_channels(*writer, "head", core::HeadRecordingTraits::schema_name, head_names);
     PedalChannels pedal_channels(*writer, "pedals", core::PedalRecordingTraits::schema_name, pedal_names);
     FullBodyChannels full_body_channels(
-        *writer, "full_body", core::FullBodyPicoRecordingTraits::schema_name, full_body_names);
+        *writer, "full_body", core::FullBodyRecordingTraits::schema_name, full_body_names);
 
     for (int frame = 0; frame < frame_count; ++frame)
     {

examples/teleop_ros2/python/constants.py

@@ -7,7 +7,7 @@
 from enum import Enum
 
 from isaacteleop.retargeting_engine.tensor_types.indices import (
-    BodyJointPicoIndex,
+    BodyJointIndex,
     HandJointIndex,
 )
 
@@ -34,7 +34,7 @@ class TeleopMode(StrEnum):
     FULL_BODY = "full_body"
 
 
-BODY_JOINT_NAMES = [e.name for e in BodyJointPicoIndex]
+BODY_JOINT_NAMES = [e.name for e in BodyJointIndex]
 HAND_POSE_JOINT_INDICES = tuple(
     HandJointIndex(i)
     for i in range(HandJointIndex.WRIST, HandJointIndex.LITTLE_TIP + 1)

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/CMakeLists.txt

@@ -84,4 +84,7 @@ if(BUILD_TESTING)
 
     # Replay DeviceIO session tests (C++)
     add_subdirectory(replay_deviceio_session_tests/cpp)
+
+    # Live trackers tests (C++)
+    add_subdirectory(live_trackers_tests/cpp)
 endif()