hermes_face now subscribes to /vision/faces and glances toward the best face (a
recognised one first, then the biggest), smoothed, holding 2.5 s and drifting
back to centre when none is seen. Sleeping ignores gaze. Image x flips on the
display: the camera looks the way the robot faces, so a person on the image's
right is on the robot's right, the viewer's left.
Fix the pan sign carried over from the prototype: positive pan is the robot's
left (the MCP contract), which is the viewer's right on the display.
robot-face.service starts the face at boot and restarts it on failure, with a
private working directory because lgpio drops a notification pipe in its cwd and
systemd's default / is not writable. robot-cpu-performance.service holds the CPU
at full clock, which halves the face's CPU cost.
Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
