update csv export and added fixed mesh axis drawing

examples/gui/layout.py

@@ -19,6 +19,9 @@ MeshLighting (below) controls the 3D mesh panel sun light:
 
 MESH_BACKGROUND (below) sets the 3D mesh panel clear color (RGB 0–255).
 
+MESH_AXIS_OVERLAY (below) controls the fixed top-right pre-rendered 3D axis triad:
+  enabled, padding_px, size_px, opacity
+
 MESH_CONTACT_ARROW (below) controls the yellow 3D contact arrow on the mesh panel:
   reference_normal_force — Fn at which arrow reaches full size (log/power/linear curve)
   force_strength_mode    — "log" | "power" | "linear"
@@ -87,7 +90,7 @@ TOP_ROW = PanelRow(
         PanelSlot("mesh", "3D mesh", width_px=400, height_px=400),
         PanelSlot("arrows", "UV Unrolled", width_px=400, height_px=400, enabled=True),
         PanelSlot("charts", "Force charts", width_px=300, height_px=400),
-        PanelSlot("settings", "Settings", width_px=200, height_px=0),
+        PanelSlot("settings", "Settings", width_px=250, height_px=0),
     ),
 )
 
@@ -142,6 +145,20 @@ class MeshBackground:
 
 MESH_BACKGROUND = MeshBackground(color=(0, 0, 0))
 
+
+@dataclass(frozen=True)
+class MeshAxisOverlay:
+    """Fixed pre-rendered XYZ triad HUD on the 3D mesh RGB output."""
+
+    enabled: bool = True
+    padding_px: int = 12
+    size_px: int = 96
+    opacity: float = 1.0
+
+
+MESH_AXIS_OVERLAY = MeshAxisOverlay()
+
+
 # 3D mesh contact arrow — edit here for dashboard tuning (see ContactArrowStyle in viz/contact_arrow.py).
 MESH_CONTACT_ARROW = ContactArrowStyle(
     reference_normal_force=10000.0,
@@ -197,6 +214,7 @@ class LogConfig:
         flow_rms: float = 0.0,
         mask_coverage: float = 0.0,
         wall_fps: float | None = None,
+        contact_xyz_mm: tuple[float, float, float] | None = None,
     ) -> str:
         shear_mag = float((fshearx**2 + fsheary**2) ** 0.5)
         if wall_fps is not None:
@@ -206,11 +224,17 @@ class LogConfig:
         parts.extend(
             [
                 f"Fn={fnormal:.1f}",
-                f"|Fs|={shear_mag:.1f}",
-                f"Fs=({fshearx:.1f}, {fsheary:.1f})",
+                f"|(Fx,Fy)|={shear_mag:.1f}",
+                f"Fx, Fy=({fshearx:.1f}, {fsheary:.1f})",
             ]
         )
-        return "  ".join(parts)
+        force_line = "  ".join(parts)
+        if contact_xyz_mm is None:
+            contact_line = "contact=---"
+        else:
+            cx, cy, cz = contact_xyz_mm
+            contact_line = f"contact=({cx:.1f}, {cy:.1f}, {cz:.1f}) mm"
+        return f"{force_line}\n{contact_line}"
 
 
 LOG_CONFIG = LogConfig()
@@ -224,7 +248,7 @@ class DashboardLayout:
 
     window_title: str = "Orisys Finger Dashboard"
     window_width: int = 1300
-    window_height: int = 520
+    window_height: int = 560
 
     root_margin_px: int = 6
     root_spacing_px: int = 6
@@ -249,6 +273,7 @@ class DashboardLayout:
     mesh_background: MeshBackground = MESH_BACKGROUND
     mesh_contact_arrow: ContactArrowStyle = MESH_CONTACT_ARROW
     mesh_flow_arrow: FlowArrowStyle = MESH_FLOW_ARROW
+    mesh_axis_overlay: MeshAxisOverlay = MESH_AXIS_OVERLAY
 
     log_config: LogConfig = LOG_CONFIG