feat(retargeters): add SO-101 5-DOF arm retargeters

[jiwenc-nv]

Add a SO101 retargeter package for the SO-101 5-DOF arm under position-only task-space IK, alongside the existing G1 set:

• SO101ClutchRetargeter: absolute EE pose with clutch-style rebasing around an origin captured on engage (no teleport on Play), rotating the world-frame controller delta into the seated base frame and optionally latching the live end-effector pose as home.
• SO101RollRetargeter: recovers the controller's roll as a dedicated wrist_roll channel via swing-twist decomposition about world Z.
• SO101GripperRetargeter: proportional (analog) jaw closedness in [0, 1] from the controller trigger, with a released-end deadzone.

The three classes are lazy-loaded from isaacteleop.retargeters. Add sim-free unit tests (trigger/roll/clutch math plus per-frame compute behavior) and a retargeting reference doc.

Summary by CodeRabbit

• New Features

  • Added three SO-101 retargeters for XR teleop applications: clutch-based position control with rebasing, wrist roll recovery, and proportional gripper control with analog trigger deadzone mapping

• Documentation

  • Added SO-101 retargeting guide including component descriptions, frame conversions, and Python example for pipeline configuration

• Tests

  • Added unit test suite validating SO-101 retargeter behavior

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📝 Walkthrough

Walkthrough

This pull request introduces a complete SO-101 5-DOF arm retargeting system for XR teleoperation. It adds three complementary retargeters—SO101GripperRetargeter (analog trigger-to-closedness mapping), SO101RollRetargeter (quaternion swing-twist wrist roll extraction), and SO101ClutchRetargeter (clutch-rebased end-effector pose control with frame conversion)—along with comprehensive unit tests covering pure math helpers and end-to-end behavior. Documentation explains the position-only IK constraints, frame relationships, and usage patterns. Build configuration and package exports make the new retargeters available for pipeline wiring.

Estimated code review effort

🎯 3 (Moderate) | ⏱️ ~25 minutes

🚥 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 'feat(retargeters): add SO-101 5-DOF arm retargeters' accurately and directly describes the main change: adding three new retargeter classes for the SO-101 arm to the retargeters module.
Docstring Coverage	✅ Passed	Docstring coverage is 100.00% which is sufficient. The required threshold is 80.00%.
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.

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[github-actions]

📝 Docs preview is not auto-deployed for fork PRs.

A maintainer with write access to NVIDIA/IsaacTeleop can deploy a preview by
commenting /preview-docs on this PR. Once deployed, the preview
will live at:

https://nvidia.github.io/IsaacTeleop/preview/pr-651/

[jiwenc-nv]

/preview-docs

[github-actions]

✅ Preview deployed: https://NVIDIA.github.io/IsaacTeleop/preview/pr-651/