Garment-fold task for the pioneer bimanual arm (from LeHome Challenge)

[wilsonchenghy]

Vendored + retargeted LeHome Challenge garment-fold task for the pioneer bimanual arm.

Refreshed 2026-09-01

Rebased onto current main (was ~10 PRs behind). Fixes carried in the rebase:

• assets/robots/bimanual_arm.py now imports BIMANUAL_ARM_CFG + joint/body name lists from the pioneer_humanoid package (was importing the long-deleted src/simulation/Teleop/keyboard_based_teleoperation/bimanual_arm_cfg.py). The obsolete "Retarget Quest teleop to pioneer_bimanual_arm #218 not landed, main is reversed" local workaround block is dropped.
• isaac_lab.Dockerfile conflict resolved (new src/pioneer_humanoid/ path + keeps the garment COPY/install + omegaconf).
• Stale doc refs in README / NOTICE / a comment fixed.

CI is green. py_compile clean across the package.

What it adds

src/simulation/garment_fold_task/ — one installable package (pyproject.toml), same shape as so101_vial_task/:

• tasks/ — garment_env.py (base DirectRLEnv, PhysX particle cloth), garment_pioneer_env.py (pioneer retarget), env cfgs, challenge_garment_loader.py
• assets/ — garment_object.py (particle-cloth builder, vendored), robots/bimanual_arm.py (re-export), scene.py
• utils/success_checker_garment.py (vendored), logger.py, config/particle_garment_cfg.yaml, scripts/smoke_test.py
• LICENSE (Apache) + NOTICE — vendored LeHome code
• README.md + 3 doc PNGs

vendor_assets/ — ~9 MB committed (4 sample garments + Table038/ scene). The 244 MB Scene_00_Apartment.usdz and full garment set are gitignored (HF download).

isaac_lab.Dockerfile — COPY + pip -e the package.

Still not done

Never run end-to-end. smoke_test.py needs a run on real Isaac before this is more than "compiles + CI-green". Recommend not merging until it produces a rollout.

[wilsonchenghy]

Rebased onto main (through #274 — the full RL flatten + Humanoid_Wato dissolve + asset reorg).

• Dockerfile conflict resolved: garment_fold_task slots into the reorganised COPY + pip install -e block (after humanoid_rl_tasks, before pioneer_humanoid); keeps the omegaconf dep add.
• Dropped the temporary src/simulation/garment_fold_task/ line from the root .gitignore (added mid-reorg to block a stray 226 MB local .usdz) — the task's own .gitignore already excludes vendor_assets/scenes/marble/, *.usdz, *.nurec, Holdout/.
• Verified: no references to anything the reorg moved/renamed (Humanoid_Wato, wato_*, old asset paths, RL_ROOT); 36 tracked files / 8 MB, nothing over the 50 MB pre-commit limit; all .py compile.

Kept as a standalone package (src/simulation/garment_fold_task/) for now — it vendors Apache-2.0 LeHome code with its own LICENSE/NOTICE, and humanoid_rl_tasks/'s import_packages auto-discovery would pull the vendored GarmentEnv base. Folding it in (+ matching the x/x/ dir-name convention) can be a follow-up once it's verified end-to-end on the pioneer arm.