[teun-manus]

Description

The manus controller to glove offset is now configurable through an environment variable. The environment variables are MANUS_GLOVE_AIM_TO_WRIST_LEFT and MANUS_GLOVE_AIM_TO_WRIST_RIGHT. Each take px,py,pz,qx,qy,qz,qw which is the translation in metres, and a rotation quaternion. When set, they replace the default offset (which is optimised for the Quest 3 controllers with the official MANUS Quest mount).

Fixes #(issue)

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)
• Documentation update

Testing

Testing was done with the Pico 4 and mounting hardware provided by Nvidia. I created an appropriate offset using internal tooling and looked at how it looked visually. I used the left hand offset "-0.094,0.001,0.012,-0.705,-0.555,-0.130,0.423" and right hand offset "0.094,0.001,0.012,-0.705,0.555,0.130,0.423"

I ran the following command:
source ~/.cloudxr/run/cloudxr.env
MANUS_GLOVE_AIM_TO_WRIST_LEFT="-0.094,0.001,0.012,-0.705,-0.555,-0.130,0.423"
MANUS_GLOVE_AIM_TO_WRIST_RIGHT="0.094,0.001,0.012,-0.705,0.555,0.130,0.423"
./install/plugins/manus/manus_hand_plugin

I then validated the result with the mujoco visualize hands example.

Checklist

• I have read and understood the contribution guidelines
• I have run the linter and formatter with SKIP=check-copyright-year pre-commit run --all-files
• I have made corresponding changes to the documentation
• I have added tests that prove my fix/feature works (or explained why not)
• I have signed off all my commits (git commit -s) per the DCO

Summary by CodeRabbit

• New Features
  • MANUS hand tracking now supports per-hand controller-to-wrist offset overrides through environment variables. Valid values specify position and quaternion; accepted quaternions are normalized. If a value is invalid, the built-in offset remains in effect, and a warning is logged.
• Documentation
  • Added guidance on configuring left- and right-hand offsets, including value format and sign changes for mirrored mounts.

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Walkthrough

The MANUS plugin now reads optional left- and right-hand controller-to-wrist offsets from environment variables. It validates and normalizes supplied poses, logs accepted overrides, and uses the built-in offset when an override is absent or invalid. The documentation describes the pose format, mirror-mount sign changes, and fallback behavior.

Estimated code review effort: 2 (Simple) | ~12 minutes

Sequence Diagram(s)

sequenceDiagram
  participant Environment
  participant aim_to_wrist_from_env
  participant ManusTracker
  participant get_controller_wrist_pose
  Environment->>aim_to_wrist_from_env: Provide per-hand override value
  aim_to_wrist_from_env->>ManusTracker: Return validated pose or fallback
  ManusTracker->>get_controller_wrist_pose: Provide stored per-hand offset

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Merge Risk: Low · previous review b36ff

The new offset override handles normal values correctly, but an extremely large quaternion component could produce an invalid wrist pose. This only occurs with unusual manual configuration, so the change is mergeable, preferably after the norm computation is made overflow-safe.

Security architecture risk: Low · up to b36ff

The change preserves existing launch permissions and built-in defaults. However, extreme finite quaternion inputs can bypass fallback and cause invalid hand orientations to be submitted as valid tracking data. Exposure is limited to existing environment-configuration authority; downstream impact is not established.

Retained concerns

• Low · reliability · inferred: Finite quaternion components can overflow the float norm calculation and be accepted as a zero quaternion rather than selecting the built-in fallback. For example, a quaternion with qw=1e20 passes component-finiteness checks. On ordinary IEEE float arithmetic, its squared norm overflows, and division by the infinite norm produces zero components. With usable glove skeleton data and a valid controller aim pose, the resulting invalid joint orientations are marked valid and tracked and submitted to OpenXR without another orientation check. This weakens containment of invalid startup configuration at the plugin-to-runtime boundary; runtime acceptance or rejection and further effects are unverified.

Security review details

Security Blast Radius

• inferred — A principal already able to configure the plugin's launch environment can now alter either hand's controller-derived pose output. The traced outcome reaches hand-tracking submission in the existing OpenXR session. Cross-tenant, cross-service, or physical-actuation consequences are not established.

Trust Boundaries and Controls

• inferred — The change relies on existing process-environment authority rather than adding a new authenticated endpoint or privileged launcher operation. Broad parent-environment inheritance predates this PR. Operational authorization to set that environment remains deployment-dependent and was not verified.

Resilience and Maintainability Implications

• observed — HandInjector forwards supplied joint locations without validating their orientations and throws if the runtime reports a failed push. Consequently, containment of the new normalization edge case is not provided by this wrapper; the actual runtime response remains unverified.

Hardening Proposals

• proposed — Use overflow-resistant quaternion normalization and require a finite, usable normalized orientation before committing an override. Otherwise preserve the built-in fallback, keeping invalid configuration from entering trusted tracking output.

Pre-merge checks: 4 · 1

Failed checks: 1 warning

Check name	Status	Explanation	Resolution
Docstring Coverage		Docstring coverage is 33.33% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff with cyclomatic complexity of at least 2. Documenta…	Write docstrings for the functions missing them to satisfy the coverage threshold.

Passed checks: 4 passed

Check name	Status	Explanation
Description Check		Check skipped - CodeRabbit’s high-level summary is enabled.
Title check		The title identifies the main change: configurable MANUS offset environment variables. It is concise and related to the pull request, although “first draft” is unnecessary.
Linked Issues check		Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check		Check skipped because no linked issues were found for this pull request.

Full details: Docstring Coverage

Explanation

Docstring coverage is 33.33% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff with cyclomatic complexity of at least 2. Documentation-only edits and deletions within surviving functions are included; unchanged diff context and fully deleted functions are excluded. Analyzed 3 functions across 2 files. (1 skipped: 1 unsupported.)

Resolution

Write docstrings for the functions missing them to satisfy the coverage threshold.

Finishing Touches

Generate unit tests (beta)

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[Copilot]

🟡 Changes recommended

The float sum of squares can overflow for large finite quaternion components, causing normalization to accept an all-zero quaternion and propagate invalid rotations to controller-positioned joints.

1 open issue

• Prevent overflow when normalizing large finite quaternions · New

What changed in this PR

This PR adds configurable controller-to-wrist offsets to Isaac Capture’s MANUS plugin, supporting alternative controllers and mounts while retaining built-in defaults.

Changes:

• Read per-hand environment overrides during initialization and use them for controller-based wrist positioning.
• Parse and validate pose values, normalize quaternions, and log overrides or rejected input.
• Document the pose format, mirroring guidance, and environment inheritance through TeleopSession.

File	Description
src/​plugins/​manus/​core/​manus_hand_tracking_plugin.cpp	Parses environment overrides and applies per-hand controller offsets.
src/​plugins/​manus/​core/​inc/​manus/​manus_hand_tracking_plugin.hpp	Stores each hand’s configured offset.
docs/​source/​device/​hand_tracking/​manus.rst	Documents offset configuration and launch behavior.

_{Review effort: Balanced}

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Actionable comments posted: 1

---

• Fix comments: Fix CodeRabbit comments on this PR

Prompt to fix all issues

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Inline comments:
Review comments at @src/plugins/manus/core/manus_hand_tracking_plugin.cpp:
- Line 161: Update the quaternion norm calculation in the hand-tracking
normalization path to use double precision or an overflow-safe norm, so finite
large components produce a valid normalized quaternion rather than a zero
quaternion from overflow. Preserve the existing component validation and pose
flow.

---

Failed pre-merge checks:
- Docstring Coverage:
Write docstrings for the functions missing them to satisfy the coverage
threshold.

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Review info

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• Source mode: Auto
• Repository: NVIDIA/IsaacCapture
• Branch: main
• File: .coderabbit.yaml
• Commit: 16578fe
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Reviewing files that changed from the base of the PR and between 16578fe and b36ff5b.

Files selected for processing: 3

• docs/source/device/hand_tracking/manus.rst
• src/plugins/manus/core/inc/manus/manus_hand_tracking_plugin.hpp
• src/plugins/manus/core/manus_hand_tracking_plugin.cpp

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