Visualization

Static plots from logs, comparisons between runs, and live plotting.

Usage

# Static plots from CSV logs
api.viz.plot_static("logs/test.csv", "3d")
api.viz.plot_static("logs/test.csv", "position")    # Position vs time
api.viz.plot_static("logs/test.csv", "velocity")
api.viz.plot_static("logs/test.csv", "joints")
api.viz.plot_static("logs/test.csv", "force")
api.viz.plot_static("logs/test.csv", "2d_xy")       # 2D projections

# Deviation from planned path
api.viz.plot_static("logs/actual.csv", "deviation", overlay_path="logs/planned.csv")

# Comprehensive multi-plot visualization
api.viz.visualize_csv_log("logs/test.csv")
api.viz.visualize_csv_log("logs/test.csv", export=True)  # Save to disk

# Compare two runs
api.viz.compare_runs("run1.csv", "run2.csv")

# Live plotting (runs in background thread)
api.viz.start_live_plot("3d", interval=100)     # 100ms update
api.viz.change_live_plot_mode("position")
api.viz.stop_live_plot()

Reference

VizAPI

VizAPI(client: RSIClient)

Data visualization interface for KUKA RSI robot control.

Provides static plot generation from CSV logs and live plotting capabilities for real-time monitoring of robot motion.

Initialize VizAPI namespace.

Parameters:

Name	Type	Description	Default
client	RSIClient	RSIClient instance for live data access	required

plot_static staticmethod

plot_static(csv_path: str, plot_type: str = '3d', overlay_path: Optional[str] = None) -> str

Generate static plots from CSV log data.

Creates matplotlib visualizations of recorded robot trajectories, velocities, forces, and other metrics.

Parameters:

Name	Type	Description	Default
csv_path	str	Path to CSV log file	required
plot_type	str	Type of plot to generate: - "3d": 3D trajectory visualization - "2d_xy", "2d_xz", "2d_yz": 2D projections - "position": Position vs time - "velocity": Velocity vs time - "acceleration": Acceleration vs time - "joints": Joint angles vs time - "force": Motor currents vs time - "deviation": Deviation from planned path (requires overlay_path)	'3d'
overlay_path	Optional[str]	Optional CSV with planned trajectory for deviation plots	None

Returns:

Type	Description
str	Status message

Raises:

Type	Description
FileNotFoundError	If CSV file doesn't exist
ValueError	If plot_type is invalid

Example

api.viz.plot_static('logs/test.csv', '3d') 'Plot 3d generated successfully'

api.viz.plot_static('logs/actual.csv', 'deviation', 'logs/planned.csv') 'Plot deviation generated successfully'

Note

Plots are displayed interactively. Close the plot window to continue.

start_live_plot

start_live_plot(mode: str = '3d', interval: int = 100) -> str

Start live plotting of robot data.

Opens an interactive matplotlib window that updates in real-time as robot data is received. Useful for monitoring during operation.

Parameters:

Name	Type	Description	Default
mode	str	Plot mode: - "3d": Live 3D trajectory - "position": Position vs time - "velocity": Velocity vs time - "force": Motor currents vs time	'3d'
interval	int	Update interval in milliseconds (default: 100ms = 10Hz)	100

Returns:

Type	Description
str	Status message

Example

api.viz.start_live_plot('3d', interval=100) 'Live plot started in 3d mode at 100ms interval'

Watch robot move in real-time

Close plot window or call stop_live_plot() to end

Note

Live plotting runs in a background thread. The plot window must remain open for updates to continue.

stop_live_plot

stop_live_plot() -> str

Stop live plotting.

Closes the live plot window and stops the update thread.

Returns:

Type	Description
str	Status message

Example

api.viz.stop_live_plot() 'Live plotting stopped'

change_live_plot_mode

change_live_plot_mode(mode: str) -> str

Change the mode of an active live plot.

Switches between different visualization modes without restarting the plot window.

Parameters:

Name	Type	Description	Default
mode	str	New plot mode (e.g., '3d', 'position', 'velocity', 'force')	required

Returns:

Type	Description
str	Status message

Example

api.viz.start_live_plot('3d')

... watch for a while ...

api.viz.change_live_plot_mode('position') 'Live plot mode changed to position'

visualize_csv_log staticmethod

visualize_csv_log(csv_file: str, export: bool = False) -> None

Comprehensive visualization of CSV log file.

Generates multiple plots (trajectory, joints, force) using the KukaRSIVisualiser. Optionally exports plots to files.

Parameters:

Name	Type	Description	Default
csv_file	str	Path to CSV log file	required
export	bool	If True, save plots to disk instead of displaying	False

Example

Display interactive plots

api.viz.visualize_csv_log('logs/test.csv')

Export plots to files

api.viz.visualize_csv_log('logs/test.csv', export=True)

Note

This generates three separate plots: - 3D trajectory with start/end markers - Joint angle evolution - Motor current trends

compare_runs staticmethod

compare_runs(file1: str, file2: str) -> str

Generate comparison plots for two test runs.

Visualizes deviations between two recorded trajectories for repeatability analysis.

Parameters:

Name	Type	Description	Default
file1	str	Path to first CSV log file	required
file2	str	Path to second CSV log file	required

Returns:

Type	Description
str	Status message

Example

api.viz.compare_runs('run1.csv', 'run2.csv') 'Comparison plots generated successfully'

Note

Uses plot_static() with deviation mode internally.