Updates documentation for manus teleop (#3605)

# Description

Since the ManusSDK is not redistributed in Isaac Lab, we have
implemented a input device plugin Isaac Sim extension which allows users
to download and build the plugin against the ManusSDK, and use it in
Isaac Lab teleportation. This change aims to provide documentation of
the procedure.

## Type of change

- Documentation

## Checklist

- [x] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

Author: rwiltz

docs/source/how-to/cloudxr_teleoperation.rst

@@ -416,6 +416,28 @@ Requires Isaac Sim 5.1 or later.
 
 Run the teleoperation example with Manus + Vive tracking:
 
+.. dropdown:: Installation instructions
+   :open:
+
+   Vive tracker integration is provided through the libsurvive library. Install the required udev rules by copying
+   `81-vive.rules <https://github.com/collabora/libsurvive/blob/32cf62c52744fdc32003ef8169e8b81f6f31526b/useful_files/81-vive.rules>`_
+   to ``/etc/udev/rules.d/`` and restarting the udev service.
+
+   .. code-block:: bash
+
+      sudo udevadm control --reload-rules && sudo udevadm trigger
+
+   The Manus integration is provided through the Isaac Sim teleoperation input plugin framework.
+   Install the plugin by following the build and installation steps in `isaac-teleop-device-plugins <https://github.com/isaac-sim/isaac-teleop-device-plugins>`_.
+
+In the same terminal from which you will launch Isaac Lab, set:
+
+.. code-block:: bash
+
+      export ISAACSIM_HANDTRACKER_LIB=<path to isaac-teleop-device-plugins>/build-manus-default/lib/libIsaacSimManusHandTracking.so
+
+Once the plugin is installed, run the teleoperation example:
+
 .. code-block:: bash
 
    ./isaaclab.sh -p scripts/environments/teleoperation/teleop_se3_agent.py \
@@ -424,20 +446,37 @@ Run the teleoperation example with Manus + Vive tracking:
        --xr \
        --enable_pinocchio
 
-Begin the session with your palms facing up.
-This is necessary for calibrating Vive tracker poses using Apple Vision Pro wrist poses from a few initial frames,
-as the Vive trackers attached to the back of the hands occlude the optical hand tracking.
+The recommended workflow, is to start Isaac Lab, click **Start AR**, and then put on the Manus gloves, vive trackers, and
+headset. Once you are ready to begin the session, use voice commands to launch the Isaac XR teleop sample client and
+connect to Isaac Lab.
+
+Isaac Lab automatically calibrates the Vive trackers using wrist pose data from the Apple Vision Pro during the initial
+frames of the session. If calibration fails, for example, if the red dots do not accurately follow the teleoperator's
+hands, restart Isaac Lab and begin with your hands in a palm-up position to improve calibration reliability.
 
 For optimal performance, position the lighthouse above the hands, tilted slightly downward.
-One lighthouse is sufficient if both hands are visible.
 Ensure the lighthouse remains stable; a stand is recommended to prevent wobbling.
 
+Ensure that while the task is being teleoperated, the hands remain stable and visible to the lighthouse at all times.
+See: `Installing the Base Stations <https://www.vive.com/us/support/vive/category_howto/installing-the-base-stations.html>`_
+and `Tips for Setting Up the Base Stations <https://www.vive.com/us/support/vive/category_howto/tips-for-setting-up-the-base-stations.html>`_
+
+.. note::
+
+   On first launch of the Manus Vive device, the Vive lighthouses may take a few seconds to calibrate. Keep the Vive trackers
+   stable and visible to the lighthouse during this time. If the light houses are moved or if tracking fails or is unstable,
+   calibration can be forced by deleting the calibration file at: ``$XDG_RUNTIME_DIR/libsurvive/config.json``. If XDG_RUNTIME_DIR
+   is not set, the default directory is ``~/.config/libsurvive``.
+
+   For more information consult the libsurvive documentation: `libsurvive <https://github.com/collabora/libsurvive>`_.
+
 .. note::
 
    To avoid resource contention and crashes, ensure Manus and Vive devices are connected to different USB controllers/buses.
    Use ``lsusb -t`` to identify different buses and connect devices accordingly.
 
-   Vive trackers are automatically calculated to map to the left and right wrist joints.
+   Vive trackers are automatically calculated to map to the left and right wrist joints obtained from a stable
+   OpenXR hand tracking wrist pose.
    This auto-mapping calculation supports up to 2 Vive trackers;
    if more than 2 Vive trackers are detected, it uses the first two trackers detected for calibration, which may not be correct.