IsaacSim XR Teleop Device Plugins — Hand Tracking (Manus example)

This repository provides a Linux-only plugin framework that bridges the Isaac Sim Hand Tracking C API to vendor SDKs. It includes:

• A shared library implementing the Isaac Sim Hand Tracking C API
• An example Manus-backed plugin that streams glove data through that API

Components

• Core C API library: IsaacSimHandTrackerCAPI (shared library)
• Manus example plugin: IsaacSimManusHandTracking (shared library)
• CLI: ManusHandTrackerPrinter (prints tracked data)

All targets use modern CMake and C++20.

Prerequisites

• Linux (x86_64)
• CMake ≥ 3.22 (Ubuntu 22.04 default is supported)
• GCC/Clang with C++20 support
• Manus SDK for Linux x86_64 (headers and shared libraries)

Note: This project does not redistribute Manus SDK binaries. Provide your own Manus SDK to build and run the Manus example plugin.

Getting the Manus SDK

The Manus SDK must be downloaded separately due to licensing.

1. Obtain a Manus account and credentials
2. Download the MANUS Core SDK from https://my.manus-meta.com/resources/downloads (tested with 2.5.1)
3. Extract and place ManusSDK/ under vendor/manus/, or set MANUS_SDK_ROOT to your install

Expected layout when vendored:

vendor/manus/
  ManusHandTrackingPlugin.cpp
  ManusHandTrackingPlugin.h
  ManusSDK/
    include/           # Manus headers (ManusSDK.h, etc.)
    lib/ or lib64/     # Manus shared libs (libManusSDK.so or libManusSDK_Integrated.so)

Build

Presets are provided:

• Default (RelWithDebInfo):

cmake --preset linux-manus-default
cmake --build --preset manus-default -j

• Debug:

cmake --preset linux-manus-debug
cmake --build --preset manus-debug -j

• Release:

cmake --preset linux-manus-release
cmake --build --preset manus-release -j

Artifacts are placed under your build directory (e.g., build-manus-default):

• bin/ManusHandTrackerPrinter
• lib/libIsaacSimHandTrackerCAPI.so (+ SONAME/version symlinks)
• lib/libIsaacSimManusHandTracking.so

Using with Isaac Sim

• The Manus plugin implements the Isaac Sim Hand Tracking C API and is intended for the isaacsim.xr.input_devices extension.
• Load the built shared libraries from your Isaac Sim integration.
• Ensure the Manus SDK shared libraries are available via RPATH or LD_LIBRARY_PATH.

Advanced

• Custom Manus SDK location:

MANUS_SDK_ROOT=/opt/ManusSDK cmake --preset linux-manus-default
cmake --build --preset manus-default -j

• Disable Manus plugin (build C API only):

cmake -S . -B build-core -DBUILD_MANUS_PLUGIN=OFF
cmake --build build-core -j

Troubleshooting

• Missing libIsaacSimHandTrackerCAPI.so at runtime: run from build-*/bin or install/bin; avoid stale binaries under nested folders.
• Manus SDK not found at runtime: set LD_LIBRARY_PATH to your Manus SDK lib/ (or bundle via the opt-in flag for builds).
• CMake cannot locate Manus headers/libs: verify MANUS_SDK_ROOT, or place ManusSDK/ under vendor/manus/ as shown above.

Contributing

Contributions are welcome! Please see CONTRIBUTING.md for guidelines, coding style, and CI details.

License

Source files are under their stated licenses. The Manus SDK is proprietary to Manus and is subject to its own license; it is not redistributed by this project.