- Add MindRobotDualArmIKAbsEnvCfg: standalone dual-arm env inheriting
ManagerBasedRLEnvCfg directly (no single-arm dependency), 20D action
space (left_arm7 | wheel4 | left_gripper1 | right_arm7 | right_gripper1)
- Add local mdp/ with parameterized gripper_pos(joint_names) to support
independent left/right gripper observations without modifying IsaacLab
- Update teleop_xr_agent.py for dual-arm mode: shared XrClient to avoid
SDK double-init crash, root-frame IK command caching so arm joints are
locked when grip not pressed (EEF world pos still tracks chassis)
- Tune mindrobot_cfg.py initial poses with singularity-avoiding offsets
- Add CLAUDE.md project instructions and debug_action_assembly.py
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
yt lee
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