view_camera.yaml

# Copyright 2026 Enactic, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# Head camera panel in the VR device: one image locked to the room.
#
# For the head-locked stereo view, point VIEW_CONFIGURATION_FILE at
# view_camera_stereo.yaml instead; "view: none" shows no camera at
# all.
#
# Read once when the node starts, so restart the dataflow to apply.

# How many images to draw: mono uses the camera_head_right input only,
# stereo needs camera_head_left too. Where they hang is panel: lock.
view: mono

session:
  # immersive-ar keeps the room visible around the image, immersive-vr
  # blacks it out.
  mode: immersive-vr

panel:
  # What the image hangs off: room leaves it where the headset was
  # looking when the session started, so a head turn looks away from it;
  # head carries it along with the operator's gaze.
  lock: room

  # Where the image hangs, relative to where the headset was when the
  # session started: straight ahead at eye height, facing the operator.

  # Meters away.
  distance: 1.3

  # Meters wide. The height follows the image aspect ratio.
  width: 1.5

pose:
  # Neutral hand position relative to the arm_origin site (chest
  # level), in meters.
  frame_offset: [-0.1, 0.0, 0.23]

  # Eyes to the neck's rotation axis, in the headset's own frame
  # (-z forward, +y up), in meters. The hand positions are made relative
  # to this pivot rather than to the headset, so a head turn does not
  # swing the target along the arc the headset travels. Measure it per
  # operator in a session started with --calibration, by holding the Y
  # button down while turning the head; the run writes what it measured
  # to --neck-pivot-file, which wins over this one. [0, 0, 0] subtracts
  # the headset itself.
  neck_pivot_offset: [0.0, -0.075, 0.080]