Getting started

Windows setup

Create and activate a virtual environment:

py -3 -m venv .venv
./.venv/Scripts/Activate.ps1
python -m pip install --upgrade pip
pip install -r ./backend/requirements.txt

Start the web interface:

python ./run_dashboard.py

Open the browser UI:

http://127.0.0.1:8008

Single-source configuration

Edit only app_config.py for the robot IP and the default RTDE setup.

ROBOT_HOST = "192.168.163.128"
ROBOT_FREQUENCY_HZ = 125.0
ROBOT_MODEL = "ur5e"
ROBOT_FIELDS = [
    "timestamp",
    "actual_q",
    "actual_TCP_pose",
]

Recommended starting points

High-rate digital twin:

ROBOT_FREQUENCY_HZ = 500.0
ROBOT_FIELDS = ["timestamp", "actual_q", "actual_TCP_pose"]

Web interface monitoring:

ROBOT_FREQUENCY_HZ = 125.0
ROBOT_FIELDS = [
    "timestamp",
    "actual_q",
    "actual_qd",
    "actual_TCP_pose",
    "actual_TCP_speed",
    "runtime_state",
    "speed_scaling",
]

Current-window monitoring:

ROBOT_FREQUENCY_HZ = 125.0
ROBOT_FIELDS = [
    "timestamp",
    "actual_q",
    "target_current",
    "actual_current",
    "actual_current_window",
]

Note

Start with the thinnest field list that satisfies your use case. Increase frequency last, not first.