Fix: stale API usage in the teleop session doc

[xsun2445]

Description

The Python blocks in docs/source/getting_started/teleop_session.rst predated the single-sided GripperRetargeter and the TensorGroup input contract, so several of them raised on the first call rather than being merely imprecise. A reader copying the Quick Start got an ImportError; a reader copying the "Before" block got three different exceptions in sequence.

Quick Start

• GripperRetargeter moved to isaacteleop.retargeters and now requires a GripperRetargeterConfig
• one retargeter handles one hand and emits gripper_command, not gripper_left / gripper_right

Before vs After

• oxr.OpenXRSession.create(...) does not exist — construct the class directly
• the source owns its ControllerTracker, so take it from controllers.get_tracker(); a standalone deviceio.ControllerTracker() is never registered with the session and raises RuntimeError: Tracker implementation not found
• pipeline inputs must be TensorGroups — poll_tracker() replaces the hand-built dict of lists, which raised AttributeError: 'list' object has no attribute 'group_type'

Also

• OpenXRSessionHandles import path: teleopcore.oxr -> isaacteleop.oxr (teleopcore is not importable)
• corrected the gripper example path and added the two-sided example reference
• added the missing teleop_control_pipeline and sinks fields to the TeleopSessionConfig listing

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

Every code block was extracted into a scratch harness and executed against a live
CloudXR session (CloudXR Runtime 6.3.0, Quest3 device profile, web-client emulator),
rather than only checked against the source. Each block ran with a bounded loop and
exited 0.

Not covered: the pm.PluginManager([...]) / plugin_manager.start(...) lines in the
"Before" block remain ... placeholders in a deliberately schematic section, and were
not executed.

Platform: Ubuntu, Python 3.11.15, isaacteleop 1.5.115rc1.

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
• I have made corresponding changes to the documentation
• I have added tests that prove my fix/feature works (or explained why not)
• I have signed off all my commits (git commit -s) per the DCO

Summary by CodeRabbit

• Documentation
  • Updated the teleoperation quick-start guide with the current two-sided gripper setup.
  • Clarified optional control pipeline and sink configuration for teleoperation sessions.
  • Updated OpenXR import instructions and complete-example references.
  • Refreshed setup examples to include combined gripper commands and tracker polling.

[coderabbitai]

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ℹ️ Recent review info

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📥 Commits

Reviewing files that changed from the base of the PR and between 8278e3f and e3fbac4.

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• docs/source/getting_started/teleop_session.rst

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📝 Walkthrough

Walkthrough

The teleoperation guide now uses configured left-hand GripperRetargeter inputs and the combined gripper_command output. It documents optional TeleopSessionConfig pipelines and sinks. The OpenXR example uses the isaacteleop.oxr import path. Complete examples now reference current locations, use ControllersSource.poll_tracker(), construct OpenXRSession directly, and combine separately configured left and right gripper retargeters with OutputCombiner.

Estimated code review effort: 1 (Trivial) | ~3 minutes

Merge Risk: ⚪ Minimal · up to e3fba

This documentation-only update corrects stale teleoperation examples and configuration references; no actionable merge-blocking risk remains beyond normal checks and review.

🚥 Pre-merge checks | ✅ 5

✅ Passed checks (5 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title clearly and concisely describes the main change: correcting stale API usage in the teleoperation session documentation.
Docstring Coverage	✅ Passed	No functions found in the changed files to evaluate docstring coverage. Skipping docstring coverage check. Docstring coverage is scoped to functions touched by this diff. Analyzed 0 functions across 0…
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.

Full details: Docstring Coverage

Explanation

No functions found in the changed files to evaluate docstring coverage. Skipping docstring coverage check. Docstring coverage is scoped to functions touched by this diff. Analyzed 0 functions across 0 files. (1 skipped: 1 unsupported.)

✨ Finishing Touches 💡 1

⚔️ Resolve merge conflicts 💡

• Resolve merge conflict in branch xinghuas/fix-teleop-session-doc

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Commit unit tests in branch xinghuas/fix-teleop-session-doc

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