How to use device plugin in robot teleop

[xtian-jptiinc]

The basic plugin test like foot_pedal_locomotion_example.py uses TeleopSession and retargeter pipeline to get inputs from the plugin. However the robot teleop example from IsaacLab, i.e., teleop_se3_agent.py, uses isaaclab.envs and teleopinterface.

I need to use inputs from a controller plugin in the robot teleop example - teleop_se3_agent.py.
What is the recommended way to do it?

Any example code, best practices, or guidance on how to properly combine the TeleopSession pipeline with Isaac Lab’s teleop environment would be greatly appreciated.

Thanks!