# Modifying Sensor Settings

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 [2D-3D Fusion](https://extend-robotics.gitbook.io/user-guide/amas-vr-application/manage-multiple-devices/sensekit-addition-and-configuration/2d-3d-fusion)

{% hint style="warning" %}
Addition information regarding the Cutoff Distance and Replacement fields can be found here [2D - 3D fusion](https://extend-robotics.gitbook.io/user-guide/amas-vr-application/manage-multiple-devices/sensekit-addition-and-configuration/2d-3d-fusion)
{% endhint %}

### 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`. 
* Reboot the Cortex for the configuration to take effect.

{% hint style="warning" %}
If the Robot Linkage is modified, it might need to be calibrated again using the information provided in the [Sensor Position Calibration](https://extend-robotics.gitbook.io/user-guide/amas-vr-application/manage-multiple-devices/the-configuration).
{% endhint %}