isaacsim.kit.xr.teleop.bridge doesn't load OpenXR extensions

[jiwenc-nv]

Describe the bug
Additional OpenXR extensions are not advertised from isaacsim.kit.xr.teleop.bridge

To reproduce
Steps to reproduce the behavior:

Run Isaac Lab with the following patch to use Foot Pedal.

commit 3d2fcdcf470243cef246e13741705cab66008bfc
Author: Jiwen Cai <jiwenc@nvidia.com>
Date:   Sat Feb 21 19:31:40 2026 -0800

    HACK: Test out foot pedal retargeter

diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/locomanipulation_g1_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/locomanipulation_g1_env_cfg.py
index b4f26fd3077..e36199a37b9 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/locomanipulation_g1_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/locomanipulation/pick_place/locomanipulation_g1_env_cfg.py
@@ -54,11 +54,14 @@ def _build_g1_locomanipulation_pipeline():
         OutputCombiner with a single "action" output containing the flattened
         32D action tensor: [left_wrist(7), right_wrist(7), hand_joints(14), locomotion(4)].
     """
-    from isaacteleop.retargeting_engine.deviceio_source_nodes import ControllersSource
+    from isaacteleop.retargeting_engine.deviceio_source_nodes import (
+        ControllersSource,
+        Generic3AxisPedalSource,
+    )
     from isaacteleop.retargeting_engine.interface import OutputCombiner, ValueInput
     from isaacteleop.retargeting_engine.retargeters import (
-        LocomotionRootCmdRetargeter,
-        LocomotionRootCmdRetargeterConfig,
+        FootPedalRootCmdRetargeter,
+        FootPedalRootCmdRetargeterConfig,
         Se3AbsRetargeter,
         Se3RetargeterConfig,
         TensorReorderer,
@@ -69,6 +72,7 @@ def _build_g1_locomanipulation_pipeline():
 
     # Create input sources (trackers are auto-discovered from pipeline)
     controllers = ControllersSource(name="controllers")
+    pedals = Generic3AxisPedalSource(name="pedals")
 
     # External input: world-to-anchor 4x4 transform matrix provided by IsaacTeleopDevice
     transform_input = ValueInput("world_T_anchor", TransformMatrix())
@@ -155,19 +159,16 @@ def _build_g1_locomanipulation_pipeline():
     )
 
     # -------------------------------------------------------------------------
-    # Locomotion Root Command Retargeter (base velocity from thumbsticks)
+    # Foot Pedal Root Command Retargeter (base velocity from foot pedals)
     # -------------------------------------------------------------------------
-    locomotion_cfg = LocomotionRootCmdRetargeterConfig(
-        initial_hip_height=0.72,
-        movement_scale=0.5,
-        rotation_scale=0.35,
-        dt=1.0 / 100.0,  # Must match rendering dt: sim.dt (1/200) * render_interval (2)
+    locomotion_cfg = FootPedalRootCmdRetargeterConfig(
+        mode="horizontal",
     )
-    locomotion = LocomotionRootCmdRetargeter(locomotion_cfg, name="locomotion")
+
+    locomotion = FootPedalRootCmdRetargeter(locomotion_cfg, name="foot_pedal")
     connected_locomotion = locomotion.connect(
         {
-            "controller_left": controllers.output(ControllersSource.LEFT),
-            "controller_right": controllers.output(ControllersSource.RIGHT),
+            "pedals": pedals.output("pedals"),
         }
     )
 
@@ -278,7 +279,7 @@ class LocomanipulationG1SceneCfg(InteractiveSceneCfg):
     # Table
     packing_table = AssetBaseCfg(
         prim_path="/World/envs/env_.*/PackingTable",
-        init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 0.55, -0.3], rot=[0.0, 0.0, 0.0, 1.0]),
+        init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 5, -0.3], rot=[0.0, 0.0, 0.0, 1.0]),
         spawn=UsdFileCfg(
             usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/PackingTable/packing_table.usd",
             rigid_props=sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True),
@@ -287,7 +288,7 @@ class LocomanipulationG1SceneCfg(InteractiveSceneCfg):
 
     object = RigidObjectCfg(
         prim_path="{ENV_REGEX_NS}/Object",
-        init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.35, 0.45, 0.6996], rot=[0, 0, 0, 1]),
+        init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.35, 5, 0.6996], rot=[0, 0, 0, 1]),
         spawn=UsdFileCfg(
             usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Mimic/pick_place_task/pick_place_assets/steering_wheel.usd",
             scale=(0.75, 0.75, 0.75),

Expected behavior
Foot Pedal should work

Observed behavior

Got exception that XR_NVX1_tensor_data extension cannot be loaded

Screenshots
If applicable, add screenshots to help explain your problem.

Platforms

• Isaac Teleop Version: isaacteleop-1.0 Implement the Foot pedal retargeter #131
• OS: Ubuntu X86
• Integrations: Isaac Lab 3.0 dev
• XR Device: Pico 4 Ultra
• Additional Devices: Foot pedal

Additional context
Add any other context about the problem here.

[hougantc-nvda]

Fixed in ToT IsaacSim develop with ToT IsaacLab develop branches.