Web interface guide

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Overview

The web interface is intended for quick inspection and visualization. It combines:

• live values,

• joint and TCP charts,

• a mesh-based digital twin,

• GP register writes,

• current-window monitoring,

• event logs,

• CSV recording and snapshot export.

Screenshots

Mesh-based digital twin view.

Joint current versus allowed window monitor.

How to run it

python ./run_dashboard.py

Open the web interface in a browser:

http://127.0.0.1:8008

Key panels

Status cards

The top section shows the configured host, requested RTDE frequency, active read rate, and live connection state.

Live values

The live table shows the most recent value of each configured RTDE field. The field names remain close to the official RTDE names.

Charts

The web interface includes time-history charts for joints, TCP, and current-window data. These are intended for operator understanding and debugging rather than raw archival.

Digital twin

The digital twin follows actual_q. When actual_TCP_pose is present, the UI can also show TCP-related overlays.

GP write panel

If your configuration includes input_*_register_* fields, the web interface can write those GP inputs directly.

Current-window monitor

If these fields are available:

• target_current

• actual_current

• actual_current_window

then the web interface shows actual current, target current, allowed window, and a derived usage ratio per joint.

Recommended field profiles

Digital twin only:

ROBOT_FIELDS = ["timestamp", "actual_q", "actual_TCP_pose"]

Digital twin + I/O:

ROBOT_FIELDS = [
    "timestamp",
    "actual_q",
    "actual_TCP_pose",
    "actual_digital_input_bits",
    "actual_digital_output_bits",
]

Current-window monitor:

ROBOT_FIELDS = [
    "timestamp",
    "actual_q",
    "actual_TCP_pose",
    "target_current",
    "actual_current",
    "actual_current_window",
]