User Guide
v2025.03
v2025.03
  • Extend Robotics User Guide
  • introduction
    • Release Notes
      • AMAS v2025.03
      • AMAS V10.3
      • AMAS V9.3
      • AMAS V8.3
      • AMAS V7.6
    • AMAS Overview
    • Compatible XR Systems
    • Supported Robots
      • Robots
        • Ufactory
        • Universal Robots
        • Dobot
        • Pal Robotics
        • Mitsubishi Electric
        • AGILE-X
      • Accessories
        • Robotiq
        • ROBOTIS
        • Ufactory
        • On Robot
    • Choosing 3D Sensors
      • Limitations
      • Sensor Types
      • Support Matrix
      • Visual Comparison
    • Specifications
    • PC Requirements
    • Typical Network Connection
    • Network Requirements
  • getting started
    • Getting Started with AMAS
    • Navigating Through the User Guide
  • Cortex
    • Introduction
    • Robot Setup Instructions
      • UFactory xArm
      • UR e Series
      • UR CB Series
      • Dobot CR-A Series
      • AgileX
      • Dexterous Hands
        • Robotera XHAND1
        • Inspire Robots Dexterous Hand
      • Extend Avatar
        • Electronics Assembly
        • Mechanical assembly
          • Avatar Component Parts list
          • Assembly Instructions
        • xArm Adjustments
    • Sensor Setup Instructions
      • Sensor Positioning
    • Cortex Firmware Configuration
    • Instructions for Starting the Cortex
    • Cortex IP Configuration
    • Shutdown Instructions
    • Cortex Safety Protocols
  • AMAS VR Application
    • Download AMAS
      • Setup Quest Application
      • Running the Application
      • Home Scene Arrival
    • Control Panel
      • Interactions Modes
        • View Adjust Mode
        • Robot Control Mode
        • Interaction Utilities
      • Floating Keyboard
      • Error popup
      • Web Browser
    • Hand Tracking
    • Hand Gestures
    • Upper Body Tracking
    • Passthrough Mode
    • Managing Cortex
      • Adding Cortex Connection
      • Loading Cortex Connection
      • Modifying Robot Settings
        • Safety Parameter Update
      • Manual Robot Positioning
      • Modifying Sensor Settings
        • 2D - 3D fusion
      • Sensor Position Calibration
        • Calibration Prerequisite
          • Calibration Board
        • Sensor to Robot Calibration
        • Sensor to Sensor Calibration
        • Manual Calibration
    • Accessories
      • SenseGlove Nova 2
      • bHaptics TactGloves
    • Record and Replay
      • Creating a Recording
      • Load a Recorded Motion
      • Replay a Recorded Motion
    • Data Collection
      • Recording Data
      • Data Visualisation
        • ROS Bag
        • HDF5
        • LeRobot
    • Tutorial
    • Visual Haptic
      • Force Torque Calibration
    • Speech Recognition
    • Utilities
      • Stationary Headset
      • Exhibition Scene
    • UR Program Change
    • Mobile Robot Movement
      • Virtual Joystick
      • Quest series controller
    • Shutdown Instructions
    • Safety Utilities
      • Safety Utilities
      • Joint Limit Recovery Visualisation
      • Robot Rescue
    • Avatar Additional VR Functionalities
      • Avatar Digital Twin Assembly
      • Pose Sync Avatar Camera Setup
      • Torso Initialisation
      • Embody Control Mode
  • Command Console
    • Over-the-Air Firmware Updates
    • Updating Robot/Sensor Configurations
      • Robot Specific Firmware Settings
      • Sensor Specific Firmware Settings
  • Cortex API
    • Robots
      • Current Robot Publishers, Subscribers and Services
      • Gripper Customizations
      • Message and Service Definitions
    • Sensors
  • Other Information
    • Troubleshooting
    • Customized Hardware Integrations
    • Remote Demonstration Requirements
    • Guides
      • PAL TIAGo
        • Mobile Base, Arm and Torso Control
        • 3D Sensor
        • Additional Sensor Data Visualization
        • First Person View Mode
        • Take Home Functionality
        • Audio
        • Bundle
      • Robot - Sensor Sync
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  1. AMAS VR Application
  2. Managing Cortex

Modifying Sensor Settings

Update Sensor Settings

PreviousManual Robot PositioningNext2D - 3D fusion

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Some settings for the connected sensors can be updated via the AMAS VR application. These settings include adjustment to,

  • Sensor Pose Sync Settings : Allows to set the relative and reference frame id's to use when using the end effector with pose calibration option.

  • Robot Linkage Modification : Allows to select or change the robot the sensor is connected and the mount position.

  • Mode : This field is used to the view option of the RGBD streaming

    • 3D (default) : show 3D point cloud

    • 2D : show 2D video

    • 3D + 2D: show 3D point cloud and 2D video

  • Depth Codec :

    • zdepth (default) : lossless depth compression with sensor-based accuracy

    • yuvdepth : lossy low bandwidth depth compression, not supported on Jetson

  • Color Codec :

    • MJPEG : colour compression with a high bandwidth requirement

    • H.264 (default) : recommended colour compression codec to use

  • Fusion Offset (m unit) : When fusing multiple sensors, treat the sensor as if data was reported with a larger distance to avoid noisy data fighting for view. Only small values are recommended (0.01 - 0.1) as it may have side effects with VR scene

  • Cutoff Distance (m unit) : define to remove from 3D view data with depth larger than value, 0 to disable

  • Cutoff Replacement (m unit) : define to replace data at a depth larger than the cutoff distance and replace missing data with the value, typically set to 0 (remove) or matches Cutoff Distance to perform

Addition information regarding the Cutoff Distance and Replacement fields can be found here

Steps to Modify Sensor Settings

  • Click the Configuration tab in the wrist panel.

  • Click on the dropdown button next to the Cortex button, which will open Robots and Sensors buttons.

  • Press on the Sensors button, which will open the Active Sensors panel.

  • Select the sensor you want to modify.

  • Edit the required sensor settings accordingly.

  • Press Save. This will update the sensor and the stored configuration for auto-update on the next reboot.

If the Robot Linkage is modified, it might need to be calibrated again using the information provided in the .

2D-3D Fusion
2D - 3D fusion
Sensor Position Calibration