[fvaloppi-nv]

Description

Fix the live tensor ingestion boundary so malformed FlatBuffer bytes are never accessed or published as typed data.

• Verify each payload with the expected FlatBuffer table before field access, unpacking, recording, or adoption.
• Return owning typed handles from the verification boundary so callers cannot invalidate borrowed FlatBuffer roots.
• Retain the last-known-good data sample when malformed input is rejected; fail closed and clear actuator state when a haptic batch contains a malformed command.
• Reject zero, inconsistent, or oversized runtime sample layouts before their values control allocation or copying, while allowing protocol-compliant padding by bounding payload size and stride separately.
• Emit malformed-sample warnings at power-of-two totals to retain diagnostics without per-frame log floods.
• Keep concise comments at both enforcement points explaining the trust-boundary invariant and why GetRoot() alone is insufficient.
• Add regression coverage for valid, empty, truncated, and corrupt payloads; initial-empty, retain, publish, and collection-loss transitions; and independent sample-size/stride limits.

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)
• Documentation update

Testing

• SKIP=check-copyright-year pre-commit run --all-files
• clang-format --dry-run --Werror on all touched C++ files
• cmake --build /tmp/isaac-capture-flatbuffer-build --target live_trackers_tests --parallel 4
• /tmp/isaac-capture-flatbuffer-build/tests/cpp/core/live_trackers/live_trackers_tests --reporter compact (135 assertions in 23 test cases)

Checklist

• I have read and understood the contribution guidelines
• I have run the linter and formatter with SKIP=check-copyright-year pre-commit run --all-files
• No user-facing documentation change is needed; the internal tracker guidance records the validation and fail-closed invariants
• I have added tests that prove the fix works
• I have signed off all commits (git commit -s) per the DCO

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