Walkthrough

This change refactors transform handling in the teleop_ros2_publisher by shifting from client-side pose mutation to retargeting-engine pipeline inputs. The TriHandMotionControllerRetargeter is replaced with TriHandBiManualMotionControllerRetargeter, consolidating separate left/right retargeting streams into a single bimanual model. Transform matrices are now wired as ValueInput objects into the pipeline via .transformed() methods, eliminating the need for manual pose-level adjustments in message builders. The run() method is updated to pass external transform inputs to session.step() and consume the unified finger_joints output instead of separate left/right streams.

Estimated code review effort

🎯 4 (Complex) | ⏱️ ~45 minutes

Key review focuses:

• Verify correct wiring of TensorGroup(TransformMatrix()) into the pipeline and proper usage of .transformed() on hands/controllers
• Confirm the bimanual retargeter correctly processes transformed inputs and produces the expected unified finger_joints output
• Validate that session.step(external_inputs=...) properly receives and applies the world transform matrix
• Ensure message builders no longer apply transforms redundantly (removed transform parameters)
• Check that controller teleop logic correctly consumes controller_left_world and controller_right_world outputs

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