Sorry for not catching the PDF link before; it looks like you need to create a Rails action that outputs an HTML table. Rico then appears to take the HTML table and turn it into the grid. The tutorial shows how you need to format the output if you're using AJAX.
--Jeremy
If I'm reading it correctly, getMovieTableContent.do is merely pointing to a URL for a JSP. So, in theory you should be able to put 'list' (or something like that) and get your desired output.
Of course, this is all in theory. I'm not sure if they have some special wiring with JSPs or not. I would suggest creating a plain-jane HTML file and plugging in a simple table in there to test that theory (i.e., create 'table.html' and replace getMovieTableContent.do with 'table.html').
I'm downloading Rico right now...if that doesn't solve it I'll play
around with it and see if I can give you a solution. 
--Jeremy