Spanda

AR, VR & XR

Spanda supports augmented, virtual, and mixed reality workflows through optional packages — not built-in AR/VR engines. Reference integrations target common platforms; industrial and vendor-specific glasses ship as additional packages.

AR (Augmented Reality)

Reference integrations

Platform	Package	Status
Apple Vision Pro	`spanda-vision-pro`	Planned
Microsoft HoloLens	`spanda-hololens`	Planned
Magic Leap	`spanda-magic-leap`	Planned
Apple ARKit (iOS/iPad)	`spanda-arkit`	Planned
Google ARCore (Android)	`spanda-arcore`	Planned
Industrial AR glasses	`spanda-industrial-wearables`	Planned

Use cases

Use case	Platform integration
Remote maintenance	HoloLens + live robot camera + remote expert
Warehouse picking	ARKit/ARCore + pick path overlay
Robot visualization	Spatial anchor + twin pose stream
Mission guidance	Mission continuity state → AR overlay
Hazard visualization	Geofence + assurance anomaly → AR warning
Inspection	Checklist overlay + replay capture
Training	AR guided steps + readiness gate

VR (Virtual Reality)

VR workflows reuse simulation, replay, and digital twin — no separate VR engine in core.

Use case	Spanda integration
Operator training	`spanda sim` + VR package viewport
Simulation	Physics-lite sim + VR headset package
Mission replay	`spanda replay --playback` + VR session
Digital twin	Twin mirror fields → VR scene graph (package)
Remote robot operation	Teleoperation + VR stereo camera stream
Mission planning	Mission plan visualization in VR workspace

Example: examples/solutions/spatial-computing/vr-training/

XR (Mixed Reality)

Mixed reality combines live physical context with digital overlays:

Overlay type	Data source
Live robot overlay	Robot pose, path, safety zone
Mission overlay	Mission plan, task state, approvals
Sensor overlay	Lidar point cloud summary, camera ROI
Health overlay	Optional wearable vitals (privacy-gated)
Readiness overlay	Per-asset go/no-go from readiness API
Recovery overlay	Active recovery plan, degraded mode
Digital twin overlay	Twin mirror + replay buffer

XR sessions register as XRSession device-tree nodes with capabilities listing supported overlay types.

Package architecture

.spanda program / mission state
        ↓
Control Center / MQTT / ROS2 topic
        ↓
spanda-arkit | spanda-hololens | spanda-vision-pro (package)
        ↓
Platform SDK (ARKit, OpenXR, visionOS)
        ↓
Headset / glasses display

Packages implement provider traits for:

Session start/stop
Spatial anchor CRUD
Overlay layer subscribe
Annotation publish (remote expert)
Hand / eye / pose event stream (see hri.md)

Verification

AR/VR devices appear in capability traceability like any hardware:

spanda verify remote_maintenance.sd --capabilities --traceability

Programs may require AR capabilities:

requires_capability spatial_anchors {
  device_type = "ARHeadset"
}

Privacy

Camera and health overlays require explicit deployment policy:

SPANDA_AR_CAMERA_ENABLED=1
SPANDA_HUMAN_HEALTH_ENABLED=1
RBAC ar:stream and health:read permissions

Audit trail records session start, annotation, and override events.

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