diff --git a/autonomy/simulation/Humanoid_Wato/UsdModelAssets/full_stand.usd b/autonomy/simulation/Humanoid_Wato/UsdModelAssets/full_stand.usd
new file mode 100644
index 00000000..fc861495
Binary files /dev/null and b/autonomy/simulation/Humanoid_Wato/UsdModelAssets/full_stand.usd differ
diff --git a/autonomy/simulation/Humanoid_Wato/wato_bimanual_arm/urdf/armDouble.SLDASM/armDouble.SLDASM_limits.usda b/autonomy/simulation/Humanoid_Wato/wato_bimanual_arm/urdf/armDouble.SLDASM/armDouble.SLDASM_limits.usda
new file mode 100644
index 00000000..5e3c8156
--- /dev/null
+++ b/autonomy/simulation/Humanoid_Wato/wato_bimanual_arm/urdf/armDouble.SLDASM/armDouble.SLDASM_limits.usda
@@ -0,0 +1,109 @@
+#usda 1.0
+(
+    defaultPrim = "armDouble_SLDASM"
+    upAxis = "Z"
+)
+
+over "armDouble_SLDASM" (
+    prepend references = @./armDouble.SLDASM.usd@
+)
+{
+    over "joints"
+    {
+        over "joint1"
+        {
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+        }
+
+        over "joint2"
+        {
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+        }
+
+        over "joint3"
+        {
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+        }
+
+        over "joint4"
+        {
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+        }
+
+        over "joint5"
+        {
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+        }
+
+        over "joint6"
+        {
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+        }
+
+        over "joint1L"
+        {
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+        }
+
+        over "joint2l"
+        {
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+        }
+
+        over "joint3l"
+        {
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+        }
+
+        over "joint4l"
+        {
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+        }
+
+        over "joint5l"
+        {
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+        }
+
+        over "joint6l"
+        {
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+        }
+
+        over "joint7"
+        {
+            float physics:lowerLimit = -0.05
+            float physics:upperLimit = 0
+        }
+
+        over "joint8"
+        {
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 0.05
+        }
+
+        over "joint7l"
+        {
+            float physics:lowerLimit = -0.05
+            float physics:upperLimit = 0
+        }
+
+        over "joint8l"
+        {
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 0.05
+        }
+    }
+}
diff --git a/autonomy/simulation/quest_isaac_teleop/README.md b/autonomy/simulation/quest_isaac_teleop/README.md
new file mode 100644
index 00000000..0f8571fd
--- /dev/null
+++ b/autonomy/simulation/quest_isaac_teleop/README.md
@@ -0,0 +1,41 @@
+# Quest Bimanual Teleop (CloudXR + Pink IK)
+
+Hand-tracking teleop of the bimanual arm on a Quest, streamed via CloudXR.
+
+## 1. Start the USB tunnel (gnirehtet)
+
+The Quest reaches the PC through a USB reverse-tether. Plug the Quest in over USB,
+then:
+
+```bash
+cd ~/gnirehtet/gnirehtet-rust-linux64 && ./gnirehtet run
+```
+
+Approve the **VPN prompt on the headset** (a key icon appears). Leave this
+running.
+
+> If you restart `adb` or replug the Quest, the reverse mapping gnirehtet needs
+> gets wiped. Re-add it (then relaunch the client / re-run `./gnirehtet run`):
+>
+> ```bash
+> adb reverse tcp:31416 tcp:31416
+> ```
+
+## 2. Run the teleop
+
+```bash
+cd ~/Wato/humanoid/autonomy/simulation/quest_isaac_teleop && ./run_bimanual_teleop.sh
+```
+
+Wait for `IsaacTeleop teleoperation started`. It runs headless; the view only
+appears in the headset.
+
+Add `--gui` for a local desktop window (no headset/CloudXR).
+
+## 3. Connect the headset
+
+In the Quest browser open `https://<PC_IP>:48322/`, accept the self-signed cert,
+then in the CloudXR client set Server IP `<PC_IP>`, Port `48322`, **VR Immersive**,
+and **Connect**.
+
+Move your hands to drive the arms; pinch thumb + index to close each gripper.
diff --git a/autonomy/simulation/quest_isaac_teleop/quest_isaac_teleop/__init__.py b/autonomy/simulation/quest_isaac_teleop/quest_isaac_teleop/__init__.py
index e69de29b..461c79fb 100644
--- a/autonomy/simulation/quest_isaac_teleop/quest_isaac_teleop/__init__.py
+++ b/autonomy/simulation/quest_isaac_teleop/quest_isaac_teleop/__init__.py
@@ -0,0 +1,13 @@
+def register_bimanual_tasks() -> list:
+    """Register the bimanual teleop task after Isaac Sim starts."""
+    import gymnasium as gym
+
+    gym.register(
+        id="Isaac-WatoBimanualTeleop-v0",
+        entry_point="isaaclab.envs:ManagerBasedRLEnv",
+        disable_env_checker=True,
+        kwargs={
+            "env_cfg_entry_point": "quest_isaac_teleop.bimanual_teleop_env_cfg:WatoBimanualTeleopEnvCfg",
+        },
+    )
+    return []
diff --git a/autonomy/simulation/quest_isaac_teleop/quest_isaac_teleop/bimanual_pink_controller_cfg.py b/autonomy/simulation/quest_isaac_teleop/quest_isaac_teleop/bimanual_pink_controller_cfg.py
new file mode 100644
index 00000000..aa9fea9e
--- /dev/null
+++ b/autonomy/simulation/quest_isaac_teleop/quest_isaac_teleop/bimanual_pink_controller_cfg.py
@@ -0,0 +1,68 @@
+"""Pink IK action config for the bimanual arm."""
+
+from isaaclab.controllers.pink_ik import (
+    DampingTaskCfg,
+    LocalFrameTaskCfg,
+    NullSpacePostureTaskCfg,
+    PinkIKControllerCfg,
+)
+from isaaclab.envs.mdp.actions.pink_actions_cfg import PinkInverseKinematicsActionCfg
+
+RIGHT_EE_LINK = "link6"
+LEFT_EE_LINK = "link6l"
+BASE_LINK = "base_link"
+
+RIGHT_ARM_JOINTS = ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6"]
+LEFT_ARM_JOINTS = ["joint1L", "joint2l", "joint3l", "joint4l", "joint5l", "joint6l"]
+ARM_JOINTS = RIGHT_ARM_JOINTS + LEFT_ARM_JOINTS
+
+# Order must match the teleop pipeline output.
+GRIPPER_JOINTS = ["joint7", "joint8", "joint7l", "joint8l"]
+
+GRIPPER_OPEN = {"joint7": 0.0, "joint8": 0.0, "joint7l": 0.0, "joint8l": 0.0}
+GRIPPER_CLOSED = {"joint7": -0.05, "joint8": 0.05, "joint7l": -0.05, "joint8l": 0.05}
+
+
+WATO_BIMANUAL_IK_CONTROLLER_CFG = PinkIKControllerCfg(
+    articulation_name="robot",
+    base_link_name=BASE_LINK,
+    num_hand_joints=len(GRIPPER_JOINTS),
+    show_ik_warnings=True,
+    fail_on_joint_limit_violation=False,
+    variable_input_tasks=[
+        LocalFrameTaskCfg(
+            frame=RIGHT_EE_LINK,
+            base_link_frame_name=BASE_LINK,
+            position_cost=8.0,
+            orientation_cost=1.0,
+            lm_damping=12,
+            gain=0.5,
+        ),
+        LocalFrameTaskCfg(
+            frame=LEFT_EE_LINK,
+            base_link_frame_name=BASE_LINK,
+            position_cost=8.0,
+            orientation_cost=1.0,
+            lm_damping=12,
+            gain=0.5,
+        ),
+        NullSpacePostureTaskCfg(
+            cost=0.05,
+            lm_damping=1,
+            controlled_frames=[RIGHT_EE_LINK, LEFT_EE_LINK],
+            controlled_joints=ARM_JOINTS,
+            gain=0.075,
+        ),
+        DampingTaskCfg(cost=0.5),
+    ],
+    fixed_input_tasks=[],
+)
+
+WATO_BIMANUAL_IK_ACTION_CFG = PinkInverseKinematicsActionCfg(
+    pink_controlled_joint_names=ARM_JOINTS,
+    hand_joint_names=GRIPPER_JOINTS,
+    target_eef_link_names={"right_ee": RIGHT_EE_LINK, "left_ee": LEFT_EE_LINK},
+    asset_name="robot",
+    enable_gravity_compensation=True,
+    controller=WATO_BIMANUAL_IK_CONTROLLER_CFG,
+)
diff --git a/autonomy/simulation/quest_isaac_teleop/quest_isaac_teleop/bimanual_teleop_env_cfg.py b/autonomy/simulation/quest_isaac_teleop/quest_isaac_teleop/bimanual_teleop_env_cfg.py
new file mode 100644
index 00000000..304127bd
--- /dev/null
+++ b/autonomy/simulation/quest_isaac_teleop/quest_isaac_teleop/bimanual_teleop_env_cfg.py
@@ -0,0 +1,321 @@
+"""CloudXR + Pink IK teleop env for the bimanual arm."""
+
+import importlib.util
+import math
+import sys
+from pathlib import Path
+
+_SIMULATION_DIR = Path(__file__).resolve().parents[2]
+sys.path.insert(0, str(_SIMULATION_DIR / "Humanoid_Wato"))
+
+from isaaclab_teleop import IsaacTeleopCfg, XrCfg
+
+import isaaclab.envs.mdp as base_mdp
+import isaaclab.sim as sim_utils
+from isaaclab.assets import ArticulationCfg, AssetBaseCfg
+from isaaclab.envs import ManagerBasedRLEnvCfg
+from isaaclab.envs.common import ViewerCfg
+from isaaclab.managers import ObservationGroupCfg as ObsGroup
+from isaaclab.managers import ObservationTermCfg as ObsTerm
+from isaaclab.managers import SceneEntityCfg
+from isaaclab.managers import TerminationTermCfg as DoneTerm
+from isaaclab.scene import InteractiveSceneCfg
+from isaaclab.utils.configclass import configclass
+
+from quest_isaac_teleop.bimanual_pink_controller_cfg import (
+    GRIPPER_CLOSED,
+    GRIPPER_JOINTS,
+    GRIPPER_OPEN,
+    WATO_BIMANUAL_IK_ACTION_CFG,
+)
+
+# The keyboard-teleop config lives in a directory with a space, so load by path.
+_BIMANUAL_CFG_PATH = (
+    _SIMULATION_DIR / "Teleop" / "keyboard-based teleoperation" / "bimanual_arm_cfg.py"
+)
+_spec = importlib.util.spec_from_file_location("bimanual_arm_cfg", str(_BIMANUAL_CFG_PATH))
+_bimanual_arm_cfg = importlib.util.module_from_spec(_spec)
+_spec.loader.exec_module(_bimanual_arm_cfg)
+BIMANUAL_ARM_CFG = _bimanual_arm_cfg.BIMANUAL_ARM_CFG
+
+_BIMANUAL_ROOT = _SIMULATION_DIR / "Humanoid_Wato" / "wato_bimanual_arm"
+_URDF_PATH = str(_BIMANUAL_ROOT / "urdf" / "armDouble.SLDASM.urdf")
+_MESH_DIR = str(_BIMANUAL_ROOT / "meshes")
+
+_ROBOT_USD_PATH = str(
+    _BIMANUAL_ROOT / "urdf" / "armDouble.SLDASM" / "armDouble.SLDASM_limits.usda"
+)
+
+_ROBOT_POS = (0.0, 0.0, 0.5)
+_ROBOT_ROT = (0.0, 0.0, 1.0, 0.0)  # xyzw, 180 deg about Z
+
+_VIEWER_EYE = (-0.198, -0.016, 1.329)
+_VIEWER_LOOKAT = (0.667, -0.016, 0.828)
+
+# Flip the z sign if left/right or forward is mirrored in the headset.
+_XR_ANCHOR_POS = (0.0, 0.0, 0.0)
+_XR_ANCHOR_ROT = (0.0, 0.0, -0.70710678, 0.70710678)
+
+
+def _make_bimanual_gripper_retargeter_cls():
+    """Build the retargeter class lazily (isaacteleop only imports under Isaac)."""
+    import numpy as np
+
+    from isaacteleop.retargeting_engine.interface import BaseRetargeter, RetargeterIOType
+    from isaacteleop.retargeting_engine.interface.retargeter_core_types import RetargeterIO
+    from isaacteleop.retargeting_engine.interface.tensor_group_type import (
+        OptionalType,
+        TensorGroupType,
+    )
+    from isaacteleop.retargeting_engine.tensor_types import (
+        FloatType,
+        HandInput,
+        HandInputIndex,
+        HandJointIndex,
+    )
+
+    class BimanualGripperRetargeter(BaseRetargeter):
+        """Map thumb/index pinch to the four gripper joints."""
+
+        def __init__(self, name: str, close_m: float = 0.03, open_m: float = 0.05) -> None:
+            super().__init__(name=name)
+            self._close_m = close_m
+            self._open_m = open_m
+            self._closed = {"left": False, "right": False}
+
+        def input_spec(self) -> RetargeterIOType:
+            return {
+                "hand_right": OptionalType(HandInput()),
+                "hand_left": OptionalType(HandInput()),
+            }
+
+        def output_spec(self) -> RetargeterIOType:
+            return {
+                "gripper_joints": TensorGroupType(
+                    "gripper_joints", [FloatType(j) for j in GRIPPER_JOINTS]
+                )
+            }
+
+        def _update_side(self, side: str, hand_group) -> bool:
+            if hand_group.is_none:
+                return self._closed[side]
+
+            joint_positions = np.from_dlpack(hand_group[HandInputIndex.JOINT_POSITIONS])
+            joint_valid = np.from_dlpack(hand_group[HandInputIndex.JOINT_VALID])
+
+            if not (joint_valid[HandJointIndex.THUMB_TIP] and joint_valid[HandJointIndex.INDEX_TIP]):
+                return self._closed[side]
+
+            thumb = joint_positions[HandJointIndex.THUMB_TIP]
+            index = joint_positions[HandJointIndex.INDEX_TIP]
+            distance = float(np.linalg.norm(thumb - index))
+
+            if distance < self._close_m:
+                self._closed[side] = True
+            elif distance > self._open_m:
+                self._closed[side] = False
+            return self._closed[side]
+
+        def _compute_fn(self, inputs: RetargeterIO, outputs: RetargeterIO, context) -> None:
+            if context.execution_events.reset:
+                self._closed = {"left": False, "right": False}
+
+            out = outputs["gripper_joints"]
+            right_targets = GRIPPER_CLOSED if self._update_side("right", inputs["hand_right"]) else GRIPPER_OPEN
+            left_targets = GRIPPER_CLOSED if self._update_side("left", inputs["hand_left"]) else GRIPPER_OPEN
+
+            out[0] = right_targets["joint7"]
+            out[1] = right_targets["joint8"]
+            out[2] = left_targets["joint7l"]
+            out[3] = left_targets["joint8l"]
+
+    return BimanualGripperRetargeter
+
+
+def _build_bimanual_pipeline():
+    """Build the 18D teleop action pipeline."""
+    from isaacteleop.retargeters import (
+        Se3AbsRetargeter,
+        Se3RetargeterConfig,
+        TensorReorderer,
+    )
+    from isaacteleop.retargeting_engine.deviceio_source_nodes import HandsSource
+    from isaacteleop.retargeting_engine.interface import OutputCombiner, ValueInput
+    from isaacteleop.retargeting_engine.tensor_types import TransformMatrix
+
+    BimanualGripperRetargeter = _make_bimanual_gripper_retargeter_cls()
+
+    hands = HandsSource(name="hands")
+    transform_input = ValueInput("world_T_anchor", TransformMatrix())
+    transformed_hands = hands.transformed(transform_input.output(ValueInput.VALUE))
+
+    right_se3 = Se3AbsRetargeter(
+        Se3RetargeterConfig(
+            input_device=HandsSource.RIGHT,
+            zero_out_xy_rotation=False,
+            use_wrist_rotation=True,
+            use_wrist_position=True,
+            target_offset_roll=0.0,
+            target_offset_pitch=0.0,
+            target_offset_yaw=0.0,
+        ),
+        name="right_ee_pose",
+    )
+    connected_right_se3 = right_se3.connect(
+        {HandsSource.RIGHT: transformed_hands.output(HandsSource.RIGHT)}
+    )
+
+    left_se3 = Se3AbsRetargeter(
+        Se3RetargeterConfig(
+            input_device=HandsSource.LEFT,
+            zero_out_xy_rotation=False,
+            use_wrist_rotation=True,
+            use_wrist_position=True,
+            target_offset_roll=0.0,
+            target_offset_pitch=0.0,
+            target_offset_yaw=0.0,
+        ),
+        name="left_ee_pose",
+    )
+    connected_left_se3 = left_se3.connect(
+        {HandsSource.LEFT: transformed_hands.output(HandsSource.LEFT)}
+    )
+
+    gripper = BimanualGripperRetargeter(name="gripper")
+    connected_gripper = gripper.connect(
+        {
+            "hand_right": transformed_hands.output(HandsSource.RIGHT),
+            "hand_left": transformed_hands.output(HandsSource.LEFT),
+        }
+    )
+
+    right_ee_elements = ["r_pos_x", "r_pos_y", "r_pos_z", "r_quat_x", "r_quat_y", "r_quat_z", "r_quat_w"]
+    left_ee_elements = ["l_pos_x", "l_pos_y", "l_pos_z", "l_quat_x", "l_quat_y", "l_quat_z", "l_quat_w"]
+    gripper_elements = list(GRIPPER_JOINTS)
+
+    reorderer = TensorReorderer(
+        input_config={
+            "right_ee_pose": right_ee_elements,
+            "left_ee_pose": left_ee_elements,
+            "gripper_joints": gripper_elements,
+        },
+        output_order=right_ee_elements + left_ee_elements + gripper_elements,
+        name="action_reorderer",
+        input_types={
+            "right_ee_pose": "array",
+            "left_ee_pose": "array",
+            "gripper_joints": "scalar",
+        },
+    )
+    connected_reorderer = reorderer.connect(
+        {
+            "right_ee_pose": connected_right_se3.output("ee_pose"),
+            "left_ee_pose": connected_left_se3.output("ee_pose"),
+            "gripper_joints": connected_gripper.output("gripper_joints"),
+        }
+    )
+
+    pipeline = OutputCombiner({"action": connected_reorderer.output("output")})
+    return pipeline, [right_se3, left_se3]
+
+
+def _high_pd_actuators():
+    """Stiffen the arm joints so they track IK targets closely."""
+    actuators = dict(BIMANUAL_ARM_CFG.actuators)
+    for name in ("left_shoulder", "left_elbow", "left_wrist", "right_arm"):
+        actuators[name] = actuators[name].replace(stiffness=4400.0, damping=40.0)
+    return actuators
+
+
+@configclass
+class BimanualTeleopSceneCfg(InteractiveSceneCfg):
+    ground = AssetBaseCfg(
+        prim_path="/World/defaultGroundPlane",
+        spawn=sim_utils.GroundPlaneCfg(),
+        init_state=AssetBaseCfg.InitialStateCfg(pos=(0.0, 0.0, -1.05)),
+    )
+    dome_light = AssetBaseCfg(
+        prim_path="/World/Light",
+        spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75)),
+    )
+    robot: ArticulationCfg = BIMANUAL_ARM_CFG.replace(
+        prim_path="{ENV_REGEX_NS}/Robot",
+        # The USD overlay already includes the joint limit fixes.
+        spawn=sim_utils.UsdFileCfg(
+            usd_path=_ROBOT_USD_PATH,
+            rigid_props=sim_utils.RigidBodyPropertiesCfg(
+                disable_gravity=False,
+                max_depenetration_velocity=5.0,
+            ),
+            activate_contact_sensors=False,
+            articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+                enabled_self_collisions=True,
+            ),
+        ),
+        actuators=_high_pd_actuators(),
+        init_state=ArticulationCfg.InitialStateCfg(
+            pos=_ROBOT_POS,
+            rot=_ROBOT_ROT,
+            joint_pos=BIMANUAL_ARM_CFG.init_state.joint_pos,
+        ),
+    )
+
+
+@configclass
+class ActionsCfg:
+    bimanual_ik = WATO_BIMANUAL_IK_ACTION_CFG
+
+
+@configclass
+class ObservationsCfg:
+    @configclass
+    class PolicyCfg(ObsGroup):
+        robot_joint_pos = ObsTerm(
+            func=base_mdp.joint_pos,
+            params={"asset_cfg": SceneEntityCfg("robot")},
+        )
+
+        def __post_init__(self):
+            self.enable_corruption = False
+            self.concatenate_terms = False
+
+    policy: PolicyCfg = PolicyCfg()
+
+
+@configclass
+class TerminationsCfg:
+    time_out = DoneTerm(func=base_mdp.time_out, time_out=True)
+
+
+@configclass
+class WatoBimanualTeleopEnvCfg(ManagerBasedRLEnvCfg):
+    scene: BimanualTeleopSceneCfg = BimanualTeleopSceneCfg(num_envs=1, env_spacing=2.5)
+    viewer: ViewerCfg = ViewerCfg(eye=_VIEWER_EYE, lookat=_VIEWER_LOOKAT, origin_type="world")
+    actions: ActionsCfg = ActionsCfg()
+    observations: ObservationsCfg = ObservationsCfg()
+    terminations: TerminationsCfg = TerminationsCfg()
+
+    commands = None
+    rewards = None
+    curriculum = None
+
+    def __post_init__(self):
+        self.decimation = 4
+        self.episode_length_s = 3600.0
+        self.sim.dt = 1 / 200
+        self.sim.render_interval = 2
+
+        self.actions.bimanual_ik.controller.usd_path = None
+        self.actions.bimanual_ik.controller.urdf_path = _URDF_PATH
+        self.actions.bimanual_ik.controller.mesh_path = _MESH_DIR
+
+        self.xr = XrCfg(
+            anchor_pos=_XR_ANCHOR_POS,
+            anchor_rot=_XR_ANCHOR_ROT,
+            near_plane=0.1,
+        )
+        self.isaac_teleop = IsaacTeleopCfg(
+            pipeline_builder=lambda: _build_bimanual_pipeline()[0],
+            sim_device=self.sim.device,
+            xr_cfg=self.xr,
+        )
diff --git a/autonomy/simulation/quest_isaac_teleop/run_bimanual_teleop.sh b/autonomy/simulation/quest_isaac_teleop/run_bimanual_teleop.sh
new file mode 100755
index 00000000..e80b3e23
--- /dev/null
+++ b/autonomy/simulation/quest_isaac_teleop/run_bimanual_teleop.sh
@@ -0,0 +1,25 @@
+#!/usr/bin/env bash
+# Launch CloudXR + Pink IK teleop for the bimanual arm.
+#
+# Use --gui for local debug without CloudXR.
+
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+ISAAC_LAB="${ISAAC_LAB:-$HOME/robotics/IsaacLab-3.0}"
+
+export PYTHONPATH="${SCRIPT_DIR}:${SCRIPT_DIR}/../Humanoid_Wato:${PYTHONPATH}"
+
+MODE_ARGS=(--xr --headless)
+if [[ "${1:-}" == "--gui" || "${WATO_GUI:-0}" == "1" ]]; then
+  [[ "${1:-}" == "--gui" ]] && shift
+  MODE_ARGS=(--visualizer kit --cloudxr_env none --no-auto_launch_cloudxr)
+fi
+
+exec "${ISAAC_LAB}/isaaclab.sh" -p \
+  "${ISAAC_LAB}/scripts/environments/teleoperation/teleop_se3_agent.py" \
+  --task Isaac-WatoBimanualTeleop-v0 \
+  --external_callback quest_isaac_teleop.register_bimanual_tasks \
+  --device cpu \
+  "${MODE_ARGS[@]}" \
+  "$@"