update csv export and added fixed mesh axis drawing

examples/gui/widgets/settings_panel.py

@@ -41,6 +41,8 @@ class SettingsPanelWidget(QWidget):
     browse_video_requested = pyqtSignal()
     browse_config_requested = pyqtSignal()
     browse_finger_assets_requested = pyqtSignal()
+    browse_csv_dir_requested = pyqtSignal()
+    csv_record_toggled = pyqtSignal(bool)
 
     def __init__(
         self,
@@ -57,8 +59,8 @@ class SettingsPanelWidget(QWidget):
         self.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Fixed)
 
         root = QVBoxLayout(self)
-        root.setContentsMargins(10, 10, 10, 10)
-        root.setSpacing(10)
+        root.setContentsMargins(8, 8, 8, 8)
+        root.setSpacing(6)
 
         title = QLabel(layout.settings_panel_title)
         title.setObjectName("settingsTitle")
@@ -125,10 +127,10 @@ class SettingsPanelWidget(QWidget):
         config_row.addWidget(self.btn_browse_config)
         root.addLayout(config_row)
 
+        # Optional calibration path is kept for future re-enablement but hidden for now.
         self.cal_edit = QLineEdit("")
         self.cal_edit.setPlaceholderText("Optional calibration path")
-        root.addWidget(self._caption("Calibration"))
-        root.addWidget(self.cal_edit)
+        self.cal_edit.hide()
 
         root.addWidget(self._caption("Finger assets"))
         finger_assets_row = QHBoxLayout()
@@ -143,7 +145,28 @@ class SettingsPanelWidget(QWidget):
         finger_assets_row.addWidget(self.btn_browse_finger_assets)
         root.addLayout(finger_assets_row)
 
-        root.addSpacing(8)
+        root.addWidget(self._caption("CSV save directory"))
+        csv_dir_row = QHBoxLayout()
+        csv_dir_row.setSpacing(6)
+        self.csv_dir_edit = QLineEdit("./outputs/csv")
+        self.csv_dir_edit.setPlaceholderText("Directory for CSV recordings")
+        csv_dir_row.addWidget(self.csv_dir_edit, 1)
+        self.btn_browse_csv_dir = QPushButton("…")
+        self.btn_browse_csv_dir.setFixedWidth(32)
+        self.btn_browse_csv_dir.setToolTip("Browse CSV save directory")
+        self.btn_browse_csv_dir.clicked.connect(self.browse_csv_dir_requested.emit)
+        csv_dir_row.addWidget(self.btn_browse_csv_dir)
+        root.addLayout(csv_dir_row)
+
+        self.btn_csv_record = QPushButton("Record CSV")
+        self.btn_csv_record.setToolTip("Start writing contact/force CSV")
+        self.btn_csv_record.setEnabled(False)
+        self.btn_csv_record.clicked.connect(self._on_csv_toggle_clicked)
+        root.addWidget(self.btn_csv_record)
+        self._csv_recording = False
+        self._pipeline_running = False
+
+        root.addSpacing(4)
         rotate_row = QHBoxLayout()
         rotate_row.setSpacing(6)
         self.free_rotate_check = QCheckBox("Free rotate 3D view")
@@ -211,6 +234,45 @@ class SettingsPanelWidget(QWidget):
         self.finger_assets_edit.setEnabled(enabled)
         self.btn_browse_finger_assets.setEnabled(enabled)
 
+    def set_csv_save_dir(self, value: str) -> None:
+        self.csv_dir_edit.setText(value)
+
+    def set_csv_controls_for_pipeline(self, running: bool) -> None:
+        """Update CSV controls from pipeline start/stop."""
+        self._pipeline_running = bool(running)
+        if not self._pipeline_running:
+            self._csv_recording = False
+        self._refresh_csv_controls()
+
+    def set_csv_recording(self, recording: bool) -> None:
+        """Update CSV controls after a successful start/stop of recording."""
+        self._csv_recording = bool(recording) and self._pipeline_running
+        self._refresh_csv_controls()
+
+    def _refresh_csv_controls(self) -> None:
+        self.btn_csv_record.setEnabled(self._pipeline_running)
+        if self._csv_recording:
+            self.btn_csv_record.setText("Stop CSV")
+            self.btn_csv_record.setToolTip("Stop CSV recording")
+            self.btn_csv_record.setProperty("recording", True)
+        else:
+            self.btn_csv_record.setText("Record CSV")
+            self.btn_csv_record.setToolTip("Start writing contact/force CSV")
+            self.btn_csv_record.setProperty("recording", False)
+        style = self.btn_csv_record.style()
+        style.unpolish(self.btn_csv_record)
+        style.polish(self.btn_csv_record)
+        self.btn_csv_record.update()
+
+        dir_enabled = not self._csv_recording
+        self.csv_dir_edit.setEnabled(dir_enabled)
+        self.btn_browse_csv_dir.setEnabled(dir_enabled)
+
+    def _on_csv_toggle_clicked(self) -> None:
+        if not self._pipeline_running:
+            return
+        self.csv_record_toggled.emit(not self._csv_recording)
+
     def _emit_arrow_background_changed(self, _index: int) -> None:
         value = self.arrow_background_combo.currentData()
         if value:
@@ -239,3 +301,6 @@ class SettingsPanelWidget(QWidget):
 
     def finger_export_dir(self) -> str:
         return self.finger_assets_edit.text().strip()
+
+    def csv_save_dir(self) -> str:
+        return self.csv_dir_edit.text().strip()