Your data-config.xml is flawed. You have wrapped the document elment into the datasource element. Both need to be on the same level as direct child of the dataConfig element.
This is why the exception you posted states:
Data Config problem: DataImportHandler configuration file must have one node.
The XML parser does not find the document element as child node of dataConfig.
Try it like this:
<dataConfig>
<dataSource name="Sample" driver="org.postgresql.Driver" url="jdbc:postgresql://localhost:5432/Sample" user="postgres" password="P@ssword" />
<document name="oneDocs">
<entity dataSource="Sample" name="entity1" query="select FirstName from Employee">
<field column="EmpId" name="EmpId" />
<field column="FirstName" name="FirstName" />
<field column="LastName" name="LastName" />
</entity>
</document>
</dataConfig>