About Manus Core SDK data vs Manus Core Client stream and FK in manus_mocap_core

Hi GeoRT team,

I have a question about the Manus data pipeline.

Why does GeoRT use data streamed from the Manus Core Client instead of directly using data from the Manus Core SDK integrated on Ubuntu? From my understanding, the SDK and Client should provide equivalent Manus hand/glove data.

I also noticed that `manus_mocap_core.py` applies an additional FK layer. Could you explain why this FK step is needed? Is it for coordinate conversion, reconstructing joint positions from raw glove data, matching GeoRT’s internal hand representation, or something else?

I would like to use Manus Core SDK directly on Ubuntu, so I want to know whether bypassing the Manus Core Client stream would affect the expected input format or retargeting behavior.

Thanks!