Teleop environment interop between Isaac Lab and Lab-Arena

Context

While scoping a partner integration, an open question came up about what we
actually need to deliver: a reference workflow, or is enabling the pipeline
alone enough for them to build on with their customers?

Current gaps

• No whole-body controller (WBC) that accepts full-body input in simulation.
• No workflows for offline-generated full-body trajectories in sim/lab.

Discussion notes

• WBC support to date has been oriented toward real robots. Sim-side WBC
  support is a distinct need and should be tracked separately.
• Open question: is Agile the right candidate for a sim WBC? (given that it only handles root command rather than full body retargeting)

Next steps

• Clarify the partner's expectation: reference workflow vs. pipeline enablement.
• Evaluate candidats for sim WBC.
• Feature intake filed to schedule a dedicated discussion on sim WBC support.