add isaaclab bimanual arm example

examples/isaaclab_bimanual_robot/Readme.md

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+<!--
+SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+SPDX-License-Identifier: Apache-2.0
+-->
+
+# Bimanual Robot Example using IsaacLab
+
+This directory contains minimal usage examples for teleoperating bimanual robot arms in IsaacLab.
+
+##UR bimanual
+![ur bimanual](./images/bimanual_ur.png)
+
+
+## Prerequisites
+
+
+### 1.Isaac Teleop
+
+Follow [Install Isaac Teleop](https://isaac-sim.github.io/IsaacLab/main/source/how-to/cloudxr_teleoperation.html#cloudxr-teleoperation) to install Isaac Teleop.
+
+After installation, start the ClourXR server:
+
+```bash
+python -m isaacteleop.cloudxr
+```
+
+### 2.Isaac Lab
+
+Follow [Install Isaac Lab](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html) to install Isaac Lab with virtual environment `env_isaaclab`.
+
+After installation, activate the virtual environment:
+
+```bash
+source <your_isaaclab_path>/env_isaaclab/bin/activate
+```
+
+### 3. Install this repository to `env_isaaclab`
+
+```bash
+cd examples/isaaclab_bimanual_robot
+python -m pip install -e .
+
+## If you use uv:
+# uv pip install -e .
+```
+
+## How to run
+
+1. Source cloudxr env
+
+```bash
+source ~/.cloudxr/run/cloudxr.env
+```
+
+2. Run the task
+
+List the two environments:
+
+```bash
+python scripts/list_envs.py
+```
+
+And you should see:
+
+```
++--------+------------------------------+---------------------------------+-----------------------------------------------------------------------------------------------+
+| S. No. | Task Name                    | Entry Point                     | Config                                                                                        |
++--------+------------------------------+---------------------------------+-----------------------------------------------------------------------------------------------+
+|   1    | Template-FlexivRizon-Play-v0 | isaaclab.envs:ManagerBasedRLEnv | bimanual.tasks.manager_based.flexiv_rizon.flexiv_rizon_bimanual_env:FlexivRizonBimanualEnvCfg |
+|   2    | Template-UR10-Play-v0        | isaaclab.envs:ManagerBasedRLEnv | bimanual.tasks.manager_based.ur10.ur10_bimanual_env:UR10BimanualEnvCfg                        |
++--------+------------------------------+---------------------------------+-----------------------------------------------------------------------------------------------+
+```
+
+To examine the task environment only (without XR or Teleop):
+
+```bash
+python scripts/zero_agent.py --task Template-UR10-Play-v0 --num_envs=1
+
+python scripts/zero_agent.py --task Template-FlexivRizon-Play-v0 --num_envs=1
+```
+
+Teleoperation with XR controllers:
+
+```bash
+python scripts/teleop_se3_agent_bimanual_xr.py \
+  --task Template-UR10-Play-v0 \
+  --teleop_device motion_controllers \
+  --num_envs 1 \
+  --xr \
+  --reverse_rotation_yz
+
+python scripts/teleop_se3_agent_bimanual_xr.py \
+  --task Template-FlexivRizon-Play-v0 \
+  --teleop_device motion_controllers \
+  --num_envs 1 \
+  --xr \
+  --sensitivity 0.5 \
+  --enable_gripper
+```
+
+Connect you XR devices before running the task using the [Isaac Teleop Web client](https://nvidia.github.io/IsaacTeleop/client/).
+
+
+In IsaacLab UI, click the `Start AR` button in the bottom right panel.
+
+<img width="300" src="./images/start_xr.png" >
+
+Key bindings:
+- Press any button on the left controller to start teleoperation
+- Move the left controller to control the left arm
+- Move the right controller to control the right arm
+- Press x or y buttons on the left controller to reset
+
+
+Record data:
+
+```bash
+python scripts/record_se3_agent_bimanual_xr.py \
+  --task Template-UR10-Play-v0 \
+  --teleop_device motion_controllers \
+  --num_envs 1 \
+  --xr \
+  --dataset_file ./datasets/dataset.hdf5
+
+# or with flexiv rizon
+python scripts/record_se3_agent_bimanual_xr.py \
+  --task Template-FlexivRizon-Play-v0 \
+  --teleop_device motion_controllers \
+  --num_envs 1 \
+  --xr \
+  --sensitivity 0.5 \
+  --enable_gripper \
+  --dataset_file ./datasets/dataset_flexiv.hdf5
+```
+
+![flexiv rizon teleoperation](./images/bimanual_flexiv.png)
+
+Key bindings:
+- Press any button on the left controller to start teleoperation
+- Move the left controller to control the left arm
+- Move the right controller to control the right arm
+- Press x or y buttons on the left controller to reset
+- Press a or b buttons on the right controller to save the trajectory and reset env
+
+The dataset will be saved to `./datasets/` folder.

examples/isaaclab_bimanual_robot/datasets/.gitignore

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+# Ignore everything in this directory
+*
+# Except this .gitignore file
+!.gitignore

examples/isaaclab_bimanual_robot/pyproject.toml

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+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+[project]
+name = "bimanual"
+version = "0.1.0"
+
+[project.optional-dependencies]
+data = [
+    "lerobot",
+]
+
+[tool.setuptools.packages.find]
+where = ["source/"]
+
+
+
+[tool.ruff]
+line-length = 120
+target-version = "py310"
+
+# Exclude directories
+extend-exclude = [
+    "logs",
+    "_isaac_sim",
+    ".vscode",
+    "_*",
+    ".git",
+    "assets",
+    "datasets",
+]
+
+[tool.ruff.lint]
+# Enable flake8 rules and other useful ones
+select = [
+    "E",      # pycodestyle errors
+    "W",      # pycodestyle warnings
+    "F",      # pyflakes
+    "I",      # isort
+    "UP",     # pyupgrade
+    "C90",    # mccabe complexity
+    # "D",      # pydocstyle
+    "SIM",    # flake8-simplify
+    "RET",    # flake8-return
+]
+
+# Ignore specific rules (matching your flake8 config)
+ignore = [
+    "E402",   # Module level import not at top of file
+    "D401",   # First line should be in imperative mood
+    "RET504", # Unnecessary variable assignment before return statement
+    "RET505", # Unnecessary elif after return statement
+    "SIM102", # Use a single if-statement instead of nested if-statements
+    "SIM103", # Return the negated condition directly
+    "SIM108", # Use ternary operator instead of if-else statement
+    "SIM117", # Merge with statements for context managers
+    "SIM118", # Use {key} in {dict} instead of {key} in {dict}.keys()
+    "UP006",  # Use 'dict' instead of 'Dict' type annotation
+    "UP018",  # Unnecessary `float` call (rewrite as a literal)
+]
+
+[tool.ruff.lint.per-file-ignores]
+"__init__.py" = ["F401"]  # Allow unused imports in __init__.py files
+
+[tool.ruff.lint.mccabe]
+max-complexity = 30
+
+[tool.ruff.lint.pydocstyle]
+convention = "google"
+
+[tool.ruff.lint.isort]
+
+# Custom import sections with separate sections for each Isaac Lab extension
+section-order = [
+    "future",
+    "standard-library",
+    "third-party",
+    # Group omniverse extensions separately since they are run-time dependencies
+    # which are pulled in by Isaac Lab extensions
+    "omniverse-extensions",
+    # Group Isaac Lab extensions together since they are all part of the Isaac Lab project
+    "isaaclab",
+    "isaaclab-contrib",
+    "isaaclab-rl",
+    "isaaclab-mimic",
+    "isaaclab-tasks",
+    "isaaclab-assets",
+    # First-party is reserved for project templates
+    "first-party",
+    "local-folder",
+]
+
+[tool.ruff.lint.isort.sections]
+# Define what belongs in each custom section
+
+"omniverse-extensions" = [
+    "isaacsim",
+    "omni",
+    "pxr",
+    "carb",
+    "usdrt",
+    "Semantics",
+    "curobo",
+]
+
+"isaaclab" = ["isaaclab"]
+"isaaclab-assets" = ["isaaclab_assets"]
+"isaaclab-contrib" = ["isaaclab_contrib"]
+"isaaclab-rl" = ["isaaclab_rl"]
+"isaaclab-mimic" = ["isaaclab_mimic"]
+"isaaclab-tasks" = ["isaaclab_tasks"]
+
+[tool.ruff.format]
+
+docstring-code-format = true
+
+[tool.pyright]
+
+include = ["source", "scripts"]
+exclude = [
+    "**/__pycache__",
+    "**/_isaac_sim",
+    "**/docs",
+    "**/logs",
+    ".git",
+    ".vscode",
+]
+
+typeCheckingMode = "basic"
+pythonVersion = "3.11"
+pythonPlatform = "Linux"
+enableTypeIgnoreComments = true
+
+# This is required as the CI pre-commit does not download the module (i.e. numpy, torch, prettytable)
+# Therefore, we have to ignore missing imports
+reportMissingImports = "none"
+# This is required to ignore for type checks of modules with stubs missing.
+reportMissingModuleSource = "none" # -> most common: prettytable in mdp managers
+
+reportGeneralTypeIssues = "none"       # -> raises 218 errors (usage of literal MISSING in dataclasses)
+reportOptionalMemberAccess = "warning" # -> raises 8 errors
+reportPrivateUsage = "warning"
+
+
+[tool.codespell]
+skip = '*.usd,*.usda,*.usdz,*.svg,*.png,_isaac_sim*,*.bib,*.css,*/_build'
+quiet-level = 0
+# the world list should always have words in lower case
+ignore-words-list = "haa,slq,collapsable,buss,reacher,thirdparty"
+
+
+[tool.pytest.ini_options]
+
+markers = [
+    "isaacsim_ci: mark test to run in isaacsim ci",
+]

examples/isaaclab_bimanual_robot/scripts/list_envs.py

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+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""
+Script to print all the available environments in Isaac Lab.
+
+The script iterates over all registered environments and stores the details in a table.
+It prints the name of the environment, the entry point and the config file.
+
+All the environments are registered in the `Bimanual` extension. They start
+with `Template-` in their name.
+"""
+
+"""Launch Isaac Sim Simulator first."""
+
+import argparse
+
+from isaaclab.app import AppLauncher
+
+# add argparse arguments
+parser = argparse.ArgumentParser(description="List Isaac Lab environments.")
+parser.add_argument("--keyword", type=str, default=None, help="Keyword to filter environments.")
+# parse the arguments
+args_cli = parser.parse_args()
+
+# launch omniverse app
+app_launcher = AppLauncher(headless=True)
+simulation_app = app_launcher.app
+
+
+"""Rest everything follows."""
+
+import gymnasium as gym
+from prettytable import PrettyTable
+
+import bimanual.tasks  # noqa: F401
+
+
+def main():
+    """Print all environments registered in `Bimanual` extension."""
+    # print all the available environments
+    table = PrettyTable(["S. No.", "Task Name", "Entry Point", "Config"])
+    table.title = "Available Environments in Isaac Lab"
+    # set alignment of table columns
+    table.align["Task Name"] = "l"
+    table.align["Entry Point"] = "l"
+    table.align["Config"] = "l"
+
+    # count of environments
+    index = 0
+    # acquire all Isaac environments names
+    for task_spec in gym.registry.values():
+        if "Template-" in task_spec.id and (args_cli.keyword is None or args_cli.keyword in task_spec.id):
+            # add details to table
+            table.add_row([index + 1, task_spec.id, task_spec.entry_point, task_spec.kwargs["env_cfg_entry_point"]])
+            # increment count
+            index += 1
+
+    print(table)
+
+
+if __name__ == "__main__":
+    try:
+        # run the main function
+        main()
+    except Exception as e:
+        raise e
+    finally:
+        # close the app
+        simulation_app.close()