[farbod-nv]

Description

The gripper and SE(3) examples silently stopped after 20 seconds, and Ctrl+C could produce a traceback. The quickstart also showed gradual gripper values even though GripperRetargeter intentionally outputs binary open/closed commands.

This change:

• Runs both examples until Ctrl+C by default. --duration 20 preserves the previous timed behavior.
• Uses a monotonic clock for timed runs and rejects invalid durations.
• Announces intentional shutdown and reports completion only after cleanup succeeds.
• Preserves propagation of stream and cleanup errors.
• Corrects the quickstart to explain +1.00 open / -1.00 closed and the default trigger threshold.

Related to CXR-4301. The headset/browser “unexpected stream error” has not been reproduced, so this PR does not claim to resolve that symptom.

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

Validated on macOS with Python 3.12:

• python -m pytest tests/python/examples/teleop -q: 50 cases passed using simulated input and mocked native session boundaries.
• Real SIGINT smoke test: exit code 0, cleanup executed, no traceback.
• make current-docs: passed with warnings treated as errors.
• CMake registration smoke check: passed.
• Pre-commit checks passed for all committed files. The full-repository run also detected an existing SVG newline issue; that unrelated change was excluded.

CloudXR/headset validation remains pending.

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

• New Features
  • Teleoperation examples now run until interrupted by default, or stop after a user-specified duration. A duration of zero also runs until interrupted.
  • Updated the gripper guide to explain trigger input, open and close commands, and proportional-control alternatives.
• Bug Fixes
  • Clarified when sessions close and how stream and cleanup errors are reported.
• Documentation
  • Updated the SE(3) example instructions to describe duration and interruption behavior.

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📥 Commits

Reviewing files that changed from the base of the PR and between ca05d68 and ece5401.

📒 Files selected for processing (10)

• AGENTS.md
• docs/source/getting_started/quick_start.rst
• examples/teleop/python/_example_loop.py
• examples/teleop/python/gripper_retargeting_example_simple.py
• examples/teleop/python/se3_retargeting_example.py
• tests/python/CMakeLists.txt
• tests/python/examples/teleop/CMakeLists.txt
• tests/python/examples/teleop/conftest.py
• tests/python/examples/teleop/pyproject.toml
• tests/python/examples/teleop/test_retargeting_examples.py

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📝 Walkthrough

The gripper and SE(3) examples now use a shared --duration option and loop helper. A duration of zero runs until Ctrl+C; positive durations use a monotonic deadline. The quick-start guide describes the updated gripper controls and example behavior. New tests cover duration validation, interruption, and error propagation. Repository guidance now includes instructions for replaying focused fixes and running hooks after a rebase.

Priority: ➖ Normal

Estimated code review effort: 3 (Moderate) | ~20 minutes

Sequence Diagram(s)

sequenceDiagram
  participant User
  participant ExampleCLI
  participant run_example_loop
  participant Session
  User->>ExampleCLI: Provide duration or start without one
  ExampleCLI->>run_example_loop: Pass step callback and duration
  run_example_loop->>Session: Run a step until deadline or interruption
  Session-->>run_example_loop: Return step result
  run_example_loop-->>ExampleCLI: Finish loop

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Merge Risk: ⚪ Minimal · up to ece54

This change makes the teleoperation examples run until Ctrl+C by default and adds a validated duration option, with tests and docs updated to match. No merge-blocking issue was identified. CloudXR/headset validation is still pending, as the author notes.

🚥 Pre-merge checks | ✅ 4 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 3.45% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 29 functions across 5 files. (5 skipped: 5…	Write docstrings for the functions missing them to satisfy the coverage threshold.

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title clearly describes the retargeting examples’ explicit shutdown behavior, which is a central change in the pull request.
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

Docstring coverage is 3.45% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 29 functions across 5 files. (5 skipped: 5 unsupported.)

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🛠️ Fix failing CI checks 💡

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🧪 Generate unit tests (beta)

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• Autopilot · Keep fixing CodeRabbit findings and required CI, and resolving merge conflicts

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[ivany-nv]

Summary
The gripper and SE(3) examples now share a loop helper that runs until Ctrl+C by default, with an optional monotonic --duration, and Session closed. is printed only after both the launcher and session contexts unwind cleanly. The red build-ubuntu jobs are infra: Configure CMake failed downloading the SDL2 tarball and the rest were fail-fast cancelled, so CI never reached the new test target; locally test_retargeting_examples.py passes 50/50. _example_loop.py ships with the examples via the *.py glob in InstallPythonExample.cmake, the runtime's own session keeps terminal Ctrl+C from reaching it, and the quick-start gripper claims match GripperRetargeter. No changes needed; a CI re-run is still needed for a green build, and headset validation remains open as the description says.

Legend: 🚫 BLOCKER = merge-blocking | 💡 SUGGESTION = meaningful improvement | 🧹 NIT = precise small correction

Severity	Finding
🚫	none
💡	none
🧹	none