refactor(so101): drop teleop import guard in IK-Abs cfg

IsaacTeleopCfg now imports cleanly without the optional isaacteleop
package (the heavy import is deferred to session start on develop), so
the per-file try/except probe is no longer needed. Import IsaacTeleopCfg
unconditionally and assign self.isaac_teleop without the availability
guard, matching the pick_place GR1T2 configs on develop.

Retain _TELEOP_AVAILABLE as a plain marker so the env test suite can
still categorize this as a teleop env via env_test_utils._is_teleop_env.

Author: jiwenc-nv

source/isaaclab_tasks/isaaclab_tasks/contrib/stack/config/so101/stack_ik_abs_env_cfg.py

@@ -3,35 +3,31 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-import logging
 from dataclasses import MISSING
 
 import numpy as np
+from isaaclab_teleop import IsaacTeleopCfg
 
 from isaaclab.utils.configclass import configclass
 
 from isaaclab_tasks.contrib.stack import mdp
 
+from . import stack_joint_pos_env_cfg
 from .position_pitch_ik_action import SO101PositionPitchIKActionCfg
 from .position_pitch_ik_controller import SO101PositionPitchIKControllerCfg
-
-try:
-    import isaacteleop  # noqa: F401  -- pipeline builders need isaacteleop at runtime
-    from isaaclab_teleop import IsaacTeleopCfg
-
-    _TELEOP_AVAILABLE = True
-except ImportError:
-    _TELEOP_AVAILABLE = False
-    logging.getLogger(__name__).warning("isaaclab_teleop is not installed. XR teleoperation features will be disabled.")
-
-from . import stack_joint_pos_env_cfg
 from .stack_joint_pos_env_cfg import _SO101_GRIPPER_CLOSE, _SO101_GRIPPER_OPEN
 
 ##
 # Pre-defined configs
 ##
 from isaaclab_assets.robots.so101 import SO101_HIGH_PD_CFG  # isort: skip
 
+# ``isaaclab_teleop`` imports cleanly without the optional ``isaacteleop`` package (the heavy
+# import is deferred to session start), so no import guard is needed here. This lightweight
+# marker lets the env test suite categorize this as a teleop env (see
+# ``isaaclab_tasks/test/env_test_utils.py::_is_teleop_env``).
+_TELEOP_AVAILABLE = True
+
 # Analog-gripper action affine: ``joint = offset + scale * closedness`` maps the retargeter's
 # closedness ``c in [0, 1]`` to a ``gripper`` joint target [rad]. ``offset == OPEN`` (so ``c=0``
 # is fully open) and ``offset + scale == CLOSE`` (so ``c=1`` is fully closed). Tied to the
@@ -274,17 +270,16 @@ def __post_init__(self):
         )
 
         # IsaacTeleop-based teleoperation pipeline
-        if _TELEOP_AVAILABLE:
-            self.isaac_teleop = IsaacTeleopCfg(
-                pipeline_builder=_build_so101_stack_pipeline,
-                sim_device=self.sim.device,
-                xr_cfg=self.xr,
-                # Rebase all teleop output poses into the robot base frame: the device reads this
-                # prim's world transform each frame and left-multiplies its inverse onto the XR
-                # anchor (``base_T_world @ world_T_anchor``), so the clutch/roll retargeters work
-                # in the base frame -- the IK command's root frame (the FrameTransformer source
-                # also uses ``Robot/base``). The clutch's reset-origin home (_BASE_T_GRIPPER_HOME)
-                # provides the engage seed, so no live end-effector feed is needed. Teleop runs a
-                # single env (env_0).
-                target_frame_prim_path="/World/envs/env_0/Robot/base",
-            )
+        self.isaac_teleop = IsaacTeleopCfg(
+            pipeline_builder=_build_so101_stack_pipeline,
+            sim_device=self.sim.device,
+            xr_cfg=self.xr,
+            # Rebase all teleop output poses into the robot base frame: the device reads this
+            # prim's world transform each frame and left-multiplies its inverse onto the XR
+            # anchor (``base_T_world @ world_T_anchor``), so the clutch/roll retargeters work
+            # in the base frame -- the IK command's root frame (the FrameTransformer source
+            # also uses ``Robot/base``). The clutch's reset-origin home (_BASE_T_GRIPPER_HOME)
+            # provides the engage seed, so no live end-effector feed is needed. Teleop runs a
+            # single env (env_0).
+            target_frame_prim_path="/World/envs/env_0/Robot/base",
+        )