examples/README.md

@@ -59,7 +59,7 @@ pip install -e ".[gui]"
 ## Notes
 
 - `finger_pipeline_3dview.py` is the main interactive demo. It uses `gui/app_paths.py` so the same entry point works in editable and packaged runs.
-- Dashboard controls: click **启动** to start acquisition; `Q` quits, `R` resets, `S` starts recording, `E` stops recording, and `Esc` toggles fullscreen.
+- Dashboard controls: click **启动** to start acquisition; use **Record CSV / Stop CSV** and the CSV save-directory browser to log contact/force data; `Q` quits, `R` resets, `S` starts video recording, `E` stops video recording, and `Esc` toggles fullscreen.
 - `finger_pipeline.py` is the leanest finger example if you want to validate UV unroll + force/contact processing without the full dashboard.
 - `finger_pipeline.py` uses `orisys.finger.FingerRuntime` as the high-level entry point, then runs tactile analysis through `runtime.tactile`.
 - In `--profile` mode, the example splits the loop into capture, UV unroll, deformation, contact, and display stages so you can measure each step separately.

examples/gui/dashboard.py

@@ -2,6 +2,7 @@
 
 from __future__ import annotations
 
+import math
 import sys
 import time
 
@@ -17,6 +18,7 @@ from PyQt5.QtWidgets import (
 )
 
 from pipeline.config import PipelineConfig
+from pipeline.csv_recorder import CsvRecorder
 from pipeline.service import FingerPipeline
 
 from .app_paths import resource_path
@@ -54,6 +56,7 @@ class FingerDashboardWindow(QMainWindow):
         self.config = config
         self.layout = layout
         self.pipeline = FingerPipeline(config)
+        self.csv_recorder = CsvRecorder(config.csv_save_dir)
         self._running = False
         self._frame_index = 0
         self._wall_fps = 0.0
@@ -103,6 +106,7 @@ class FingerDashboardWindow(QMainWindow):
         self.settings_panel.set_config_path(self.config.config)
         self.settings_panel.set_calibration_path(self.config.calib or "")
         self.settings_panel.set_finger_export_dir(self.config.export_dir)
+        self.settings_panel.set_csv_save_dir(self.config.csv_save_dir)
 
         self.settings_panel.log_visibility_changed.connect(self._set_log_panel_visible)
         self.settings_panel.free_rotation_changed.connect(self.mesh_viewport.set_free_rotation)
@@ -112,9 +116,12 @@ class FingerDashboardWindow(QMainWindow):
         self.settings_panel.browse_video_requested.connect(self._select_camera)
         self.settings_panel.browse_config_requested.connect(self._select_config)
         self.settings_panel.browse_finger_assets_requested.connect(self._select_finger_assets)
+        self.settings_panel.browse_csv_dir_requested.connect(self._select_csv_dir)
+        self.settings_panel.csv_record_toggled.connect(self._on_csv_record_toggled)
         self.settings_panel.btn_play_pause.clicked.connect(self._on_play_pause_clicked)
         self.settings_panel.btn_reset_tracker.clicked.connect(self._on_reset)
         self.settings_panel.set_play_pause_state("run")
+        self.settings_panel.set_csv_controls_for_pipeline(False)
 
         self._panel_widgets: dict[str, QWidget] = {}
         self._panel_widgets["mesh"] = self.mesh_viewport
@@ -314,6 +321,7 @@ class FingerDashboardWindow(QMainWindow):
         cal = self.settings_panel.calibration_path()
         self.config.calib = cal or None
         self.config.export_dir = self.settings_panel.finger_export_dir()
+        self.config.csv_save_dir = self.settings_panel.csv_save_dir() or "./outputs/csv"
 
         try:
             self.pipeline = FingerPipeline(self.config)
@@ -334,6 +342,7 @@ class FingerDashboardWindow(QMainWindow):
         self.timer.start(self.layout.timer_interval_ms)
         self._set_play_pause_button("pause")
         self.settings_panel.btn_reset_tracker.setEnabled(True)
+        self.settings_panel.set_csv_controls_for_pipeline(True)
         print(
             f"▶ 启动 — 摄像机={self.config.video}, 配置={self.config.config}, "
             f"标定={self.config.calib or '(none)'}, 资产={self.config.export_dir}"
@@ -342,6 +351,7 @@ class FingerDashboardWindow(QMainWindow):
     def _on_stop(self) -> None:
         if not self._running:
             return
+        self._stop_csv_recording(announce=True)
         self._running = False
         self.timer.stop()
         self.log_handler.clear_status_line()
@@ -354,6 +364,7 @@ class FingerDashboardWindow(QMainWindow):
         self._set_play_pause_button("run")
         self.settings_panel.btn_reset_tracker.setEnabled(False)
         self.settings_panel.set_finger_export_dir_enabled(True)
+        self.settings_panel.set_csv_controls_for_pipeline(False)
 
     def _on_reset(self) -> None:
         if not self._running:
@@ -413,10 +424,26 @@ class FingerDashboardWindow(QMainWindow):
             profile.record("total", total_ms)
             self.pipeline.record_total_frame(total_ms)
 
+        measurement = self.pipeline.measure_for_csv(frame, self._frame_index)
+        if self.csv_recorder.is_recording:
+            self.csv_recorder.write(measurement)
+
         flow_mag = 0.0
         if frame.flow.size:
             flow_mag = float((frame.flow[:, :, 0] ** 2 + frame.flow[:, :, 1] ** 2).mean() ** 0.5)
 
+        contact_xyz_mm = None
+        if (
+            math.isfinite(measurement.contact_x)
+            and math.isfinite(measurement.contact_y)
+            and math.isfinite(measurement.contact_z)
+        ):
+            contact_xyz_mm = (
+                measurement.contact_x,
+                measurement.contact_y,
+                measurement.contact_z,
+            )
+
         log_cfg = layout.log_config
         if log_cfg.status_enabled:
             self.log_handler.set_status_line(
@@ -428,6 +455,7 @@ class FingerDashboardWindow(QMainWindow):
                     flow_rms=flow_mag,
                     mask_coverage=frame.mask_coverage,
                     wall_fps=self._wall_fps,
+                    contact_xyz_mm=contact_xyz_mm,
                 )
             )
 
@@ -460,6 +488,50 @@ class FingerDashboardWindow(QMainWindow):
         if path:
             self.settings_panel.set_finger_export_dir(path)
 
+    def _select_csv_dir(self) -> None:
+        path = QFileDialog.getExistingDirectory(
+            self,
+            "选择 CSV 保存目录",
+            self.settings_panel.csv_save_dir() or "./outputs/csv",
+        )
+        if path:
+            self.settings_panel.set_csv_save_dir(path)
+            self.config.csv_save_dir = path
+
+    def _on_csv_record_toggled(self, start: bool) -> None:
+        if start:
+            self._start_csv_recording()
+        else:
+            self._stop_csv_recording(announce=True)
+
+    def _start_csv_recording(self) -> None:
+        if not self._running:
+            print("请先启动传感器后再记录 CSV。")
+            self.settings_panel.set_csv_recording(False)
+            return
+        save_dir = self.settings_panel.csv_save_dir() or "./outputs/csv"
+        self.config.csv_save_dir = save_dir
+        try:
+            path = self.csv_recorder.start(save_dir)
+        except OSError as exc:
+            print(f"无法开始 CSV 记录：{exc}")
+            self.settings_panel.set_csv_recording(False)
+            return
+        self.settings_panel.set_csv_recording(True)
+        print(f"开始 CSV 记录：{path}")
+
+    def _stop_csv_recording(self, *, announce: bool = False) -> None:
+        if not self.csv_recorder.is_recording:
+            self.settings_panel.set_csv_recording(False)
+            return
+        path, count = self.csv_recorder.stop()
+        self.settings_panel.set_csv_recording(False)
+        if announce:
+            if path is not None:
+                print(f"CSV 记录结束：{path}，总行数：{count}")
+            else:
+                print(f"CSV 记录结束，总行数：{count}")
+
     def keyPressEvent(self, event):
         key = event.key()
         if key == Qt.Key_Escape:
@@ -483,6 +555,7 @@ class FingerDashboardWindow(QMainWindow):
 
     def closeEvent(self, event):
         self.timer.stop()
+        self._stop_csv_recording(announce=True)
         self.mesh_viewport.close_renderer()
         self.pipeline.close()
         event.accept()
@@ -493,6 +566,7 @@ def run_dashboard(config: PipelineConfig, *, layout: DashboardLayout = LAYOUT) -
     from .app import get_or_create_qapp
 
     print("\n按键说明：Q 退出 | R 重置追踪器 | S 开始录像 | E 结束录像 | ESC 全屏")
+    print("GUI：Record CSV / Stop CSV 写入接触点与力到所选目录。")
     if config.profile:
         print(f"Profiling enabled (report every {config.profile_every} frames).")
         print("Log FPS= is end-to-end dashboard rate; sdk= is Sensor internal rate.")

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"|(Fx,Fy)|={shear_mag:.1f}",
-                f"Fs=({fshearx:.1f}, {fsheary:.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
 

examples/gui/widgets/log_panel.py

@@ -22,12 +22,13 @@ class TeeStream:
 
 
 class WidgetLogHandler:
-    """Mirror print output into a QPlainTextEdit with a live status line at the bottom."""
+    """Mirror print output into a QPlainTextEdit with pinned status lines at the bottom."""
 
     def __init__(self, widget: QPlainTextEdit):
         self.widget = widget
         self.buf = ""
-        self._has_status_line = False
+        self._status_text: str | None = None
+        self._status_block_count = 0
 
     def write(self, text: str):
         self.buf += text
@@ -42,34 +43,42 @@ class WidgetLogHandler:
             self.buf = ""
 
     def set_status_line(self, text: str) -> None:
-        """Update the pinned bottom line (FPS / forces) without scrolling the log."""
+        """Update pinned bottom status (supports multi-line) without scrolling away."""
         text = text.rstrip("\n")
-        if self._has_status_line:
+        self._remove_status_blocks()
-            cursor = QTextCursor(self.widget.document().lastBlock())
+        self.widget.appendPlainText(text)
-            cursor.select(QTextCursor.BlockUnderCursor)
+        self._status_text = text
-            cursor.insertText(text)
+        self._status_block_count = max(1, text.count("\n") + 1)
-        else:
-            self.widget.appendPlainText(text)
-            self._has_status_line = True
         scrollbar = self.widget.verticalScrollBar()
         scrollbar.setValue(scrollbar.maximum())
 
     def clear_status_line(self) -> None:
-        if not self._has_status_line:
+        self._remove_status_blocks()
+        self._status_text = None
+        self._status_block_count = 0
+
+    def _remove_status_blocks(self) -> None:
+        if self._status_block_count <= 0:
             return
-        cursor = QTextCursor(self.widget.document().lastBlock())
+        doc = self.widget.document()
-        cursor.select(QTextCursor.BlockUnderCursor)
+        end = QTextCursor(doc)
+        end.movePosition(QTextCursor.End)
+        start = QTextCursor(doc)
+        start.movePosition(QTextCursor.End)
+        for _ in range(self._status_block_count):
+            start.movePosition(QTextCursor.StartOfBlock)
+            if start.position() > 0:
+                start.movePosition(QTextCursor.Left)
+        cursor = QTextCursor(doc)
+        cursor.setPosition(start.position())
+        cursor.setPosition(end.position(), QTextCursor.KeepAnchor)
         cursor.removeSelectedText()
-        self._has_status_line = False
+        self._status_block_count = 0
 
     def _append_log_line(self, line: str) -> None:
-        status = None
+        status = self._status_text
-        if self._has_status_line:
+        if status is not None:
-            status = self.widget.document().lastBlock().text()
+            self.clear_status_line()
-            cursor = QTextCursor(self.widget.document().lastBlock())
-            cursor.select(QTextCursor.BlockUnderCursor)
-            cursor.removeSelectedText()
-            self._has_status_line = False
         self.widget.appendPlainText(line)
         if status is not None:
             self.set_status_line(status)

examples/gui/widgets/mesh_viewport.py

@@ -120,6 +120,7 @@ class MeshViewportWidget(ImagePanel):
             mesh_background=self._layout.mesh_background.color,
             contact_arrow_style=self._layout.mesh_contact_arrow,
             flow_arrow_style=self._layout.mesh_flow_arrow,
+            axis_overlay=self._layout.mesh_axis_overlay,
         )
         self._renderer.flow_arrow.set_enabled(self._mesh_state.flow_arrows_enabled)
 

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.setContentsMargins(8, 8, 8, 8)
-        root.setSpacing(10)
+        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"))
+        self.cal_edit.hide()
-        root.addWidget(self.cal_edit)
 
         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()

examples/pipeline/__init__.py

@@ -1,10 +1,14 @@
 """Finger example pipeline: runtime acquisition without GUI dependencies."""
 
 from .config import PipelineConfig, mesh_threshold
+from .csv_recorder import CSV_COLUMNS, CsvMeasurement, CsvRecorder
 from .frame import FingerFrameView
 from .service import FingerPipeline
 
 __all__ = [
+    "CSV_COLUMNS",
+    "CsvMeasurement",
+    "CsvRecorder",
     "FingerFrameView",
     "FingerPipeline",
     "PipelineConfig",

examples/pipeline/config.py

@@ -20,6 +20,7 @@ class PipelineConfig:
     config: str = "./config/dd02-ov.json"
     calib: str | None = None
     export_dir: str = DEFAULT_FINGER_EXPORT_DIR
+    csv_save_dir: str = "./outputs/csv"
     verbose: bool = False
     mesh_map: str = "depth"
     threshold: float | None = None
@@ -45,6 +46,7 @@ class PipelineConfig:
             lowpass_cutoff_hz=getattr(args, "cutoff", 5.0),
             profile=getattr(args, "profile", False),
             profile_every=getattr(args, "profile_every", 30),
+            csv_save_dir=getattr(args, "csv_save_dir", "./outputs/csv"),
         )
 
     @property

examples/pipeline/csv_recorder.py

@@ -0,0 +1,114 @@
+"""CSV recorder for DD02 contact / force logging."""
+
+from __future__ import annotations
+
+import csv
+from dataclasses import dataclass
+from datetime import datetime
+from pathlib import Path
+
+
+CSV_COLUMNS = (
+    "frame_index",
+    "timestamp_s",
+    "contact_x_mm",
+    "contact_y_mm",
+    "contact_z_mm",
+    "normal_x",
+    "normal_y",
+    "normal_z",
+    "force_local_fn",
+    "force_local_fx",
+    "force_local_fy",
+)
+
+
+@dataclass
+class CsvMeasurement:
+    frame_index: int
+    timestamp_s: float
+    contact_x: float
+    contact_y: float
+    contact_z: float
+    normal_x: float
+    normal_y: float
+    normal_z: float
+    force_local_fn: float
+    force_local_fx: float
+    force_local_fy: float
+
+
+def measurement_to_csv_row(row: CsvMeasurement) -> dict[str, float | int]:
+    return {
+        "frame_index": row.frame_index,
+        "timestamp_s": row.timestamp_s,
+        "contact_x_mm": row.contact_x,
+        "contact_y_mm": row.contact_y,
+        "contact_z_mm": row.contact_z,
+        "normal_x": row.normal_x,
+        "normal_y": row.normal_y,
+        "normal_z": row.normal_z,
+        "force_local_fn": row.force_local_fn,
+        "force_local_fx": row.force_local_fx,
+        "force_local_fy": row.force_local_fy,
+    }
+
+
+class CsvRecorder:
+    """Write one contact/force measurement row per frame."""
+
+    def __init__(self, save_dir: str | Path = "./outputs/csv") -> None:
+        self.save_dir = Path(save_dir)
+        self._file = None
+        self._writer: csv.DictWriter | None = None
+        self._path: Path | None = None
+        self._row_count = 0
+
+    @property
+    def is_recording(self) -> bool:
+        return self._writer is not None
+
+    @property
+    def path(self) -> Path | None:
+        return self._path
+
+    @property
+    def row_count(self) -> int:
+        return self._row_count
+
+    def start(self, save_dir: str | Path | None = None) -> Path:
+        if self.is_recording:
+            self.stop()
+
+        if save_dir is not None:
+            self.save_dir = Path(save_dir)
+        self.save_dir.mkdir(parents=True, exist_ok=True)
+
+        stamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+        self._path = self.save_dir / f"dd02_record_{stamp}.csv"
+        self._file = self._path.open("w", newline="", encoding="utf-8")
+        self._writer = csv.DictWriter(self._file, fieldnames=CSV_COLUMNS)
+        self._writer.writeheader()
+        self._file.flush()
+        self._row_count = 0
+        return self._path
+
+    def write(self, row: CsvMeasurement) -> None:
+        if self._writer is None:
+            return
+        self._writer.writerow(measurement_to_csv_row(row))
+        self._row_count += 1
+        if self._file is not None and self._row_count % 30 == 0:
+            self._file.flush()
+
+    def stop(self) -> tuple[Path | None, int]:
+        count = self._row_count
+        saved_path = self._path
+        if self._file is not None:
+            self._file.flush()
+            self._file.close()
+        self._file = None
+        self._writer = None
+        self._path = None
+        self._row_count = 0
+        return saved_path, count

examples/pipeline/service.py

@@ -6,11 +6,12 @@ import time
 from dataclasses import dataclass
 
 import numpy as np
-from orisys.finger import FingerRuntime
+from orisys.finger import FingerRuntime, compute_uv_surface_frames
 
 from viz import FrameRecorder, build_uv_surface_mesh, resolve_viz_pose_path
 
 from .config import PipelineConfig
+from .csv_recorder import CsvMeasurement
 from .frame import FingerFrameView
 from .profiling import StageProfiler, run_deformation_timed
 
@@ -40,6 +41,12 @@ class FingerPipeline:
         self.profiler: StageProfiler | None = (
             StageProfiler(report_every=config.profile_every) if config.profile else None
         )
+        self._world_xyz: np.ndarray | None = None
+        self._surface_mask: np.ndarray | None = None
+        self._geometric_center: np.ndarray | None = None
+        self._tangent_x: np.ndarray | None = None
+        self._tangent_y: np.ndarray | None = None
+        self._normals: np.ndarray | None = None
 
     @property
     def is_open(self) -> bool:
@@ -72,10 +79,26 @@ class FingerPipeline:
         if domain.surface is None or getattr(domain.surface, "world_xyz", None) is None:
             return
         self.uv_mesh = build_uv_surface_mesh(domain.surface.world_xyz, domain.valid_mask)
+        self._cache_surface_geometry(domain.surface.world_xyz, domain.valid_mask)
         if self.config.viz_pose.lower() != "none":
             self.world_to_cam = np.load(resolve_viz_pose_path(self.config.viz_pose))
             self.mesh_lookat = self.uv_mesh.rest_vertices.mean(axis=0)
 
+    def _cache_surface_geometry(self, world_xyz: np.ndarray, valid_mask: np.ndarray) -> None:
+        world_xyz = np.asarray(world_xyz, dtype=np.float64)
+        valid_mask = np.asarray(valid_mask, dtype=bool)
+        finite = np.all(np.isfinite(world_xyz), axis=2)
+        mask = valid_mask & finite
+        self._world_xyz = world_xyz
+        self._surface_mask = mask
+        points = world_xyz[mask]
+        self._geometric_center = (
+            points.mean(axis=0) if len(points) else np.zeros(3, dtype=np.float64)
+        )
+        self._tangent_x, self._tangent_y, self._normals = compute_uv_surface_frames(
+            world_xyz, mask
+        )
+
     def close(self) -> None:
         if self.profiler is not None and self.profiler.frame_count:
             self.profiler.print_report(prefix="[profile final]")
@@ -83,6 +106,12 @@ class FingerPipeline:
             self.runtime.close()
             self.runtime = None
         self._start_time = None
+        self._world_xyz = None
+        self._surface_mask = None
+        self._geometric_center = None
+        self._tangent_x = None
+        self._tangent_y = None
+        self._normals = None
 
     def reset(self) -> None:
         if self.runtime is not None:
@@ -165,3 +194,53 @@ class FingerPipeline:
 
     def stop_recording(self) -> None:
         self.recorder.stop()
+
+    def measure_for_csv(self, frame: FingerFrameView, frame_index: int) -> CsvMeasurement:
+        """Lift contact + local forces into global-frame measurements for CSV export."""
+        nan = float("nan")
+        contact = (nan, nan, nan)
+        normal = (nan, nan, nan)
+
+        fn = float(frame.fnormal)
+        fx = float(frame.fshearx)
+        fy = float(frame.fsheary)
+
+        if (
+            frame.centroid_found
+            and frame.centroid is not None
+            and np.asarray(frame.centroid).size >= 2
+            and self._world_xyz is not None
+            and self._geometric_center is not None
+            and self._normals is not None
+            and self._tangent_x is not None
+            and self._tangent_y is not None
+        ):
+            cx = int(round(float(np.asarray(frame.centroid).reshape(-1)[0])))
+            cy = int(round(float(np.asarray(frame.centroid).reshape(-1)[1])))
+            h, w = self._world_xyz.shape[:2]
+            if 0 <= cy < h and 0 <= cx < w:
+                if self._surface_mask is None or bool(self._surface_mask[cy, cx]):
+                    world = self._world_xyz[cy, cx]
+                    if np.all(np.isfinite(world)):
+                        centered = world - self._geometric_center
+                        contact = (float(centered[0]), float(centered[1]), float(centered[2]))
+
+                    n = self._normals[cy, cx]
+                    n_norm = float(np.linalg.norm(n))
+                    if n_norm > 1e-8:
+                        n_u = n / n_norm
+                        normal = (float(n_u[0]), float(n_u[1]), float(n_u[2]))
+
+        return CsvMeasurement(
+            frame_index=int(frame_index),
+            timestamp_s=float(frame.timestamp),
+            contact_x=contact[0],
+            contact_y=contact[1],
+            contact_z=contact[2],
+            normal_x=normal[0],
+            normal_y=normal[1],
+            normal_z=normal[2],
+            force_local_fn=fn,
+            force_local_fx=fx,
+            force_local_fy=fy,
+        )

examples/viz/offscreen_mesh.py

@@ -84,6 +84,168 @@ def _background_rgb01(color: tuple[int, int, int]) -> np.ndarray:
     return np.asarray(_background_rgba01(color)[:3], dtype=np.float64)
 
 
+# Cached pre-rendered mesh-axis triads keyed by size_px.
+_AXIS_TRIAD_CACHE: dict[int, np.ndarray] = {}
+
+
+def _project_mesh_axis_to_screen(point_xyz: np.ndarray, *, size_px: int) -> tuple[int, int, float]:
+    """Project mesh coords to HUD pixels.
+
+    Screen mapping for the fixed mesh-axis reference:
+      +X -> down, +Y -> left, +Z -> inward (into the page).
+
+    Mild foreshortening keeps +Z visible as a short into-page axis.
+    Returns (px, py, depth) where larger depth is farther from the viewer.
+    """
+    x, y, z = float(point_xyz[0]), float(point_xyz[1]), float(point_xyz[2])
+    # Camera looks predominantly along +Z (into page): u right, v down.
+    # Soft shear so Z has a short foreshortened stub.
+    shear = 0.34
+    u = -y - shear * z
+    v = x - shear * z
+    scale = size_px * 0.30
+    # Origin slightly lower-right-of-center so labeled tips stay in-frame.
+    cx = size_px * 0.58
+    cy = size_px * 0.48
+    return int(round(cx + u * scale)), int(round(cy + v * scale)), z
+
+
+def _render_axis_triad_rgba(size_px: int) -> np.ndarray:
+    """Build (and cache) a transparent RGBA 3D-looking XYZ triad."""
+    import cv2
+
+    size_px = max(48, int(size_px))
+    cached = _AXIS_TRIAD_CACHE.get(size_px)
+    if cached is not None:
+        return cached
+
+    rgba = np.zeros((size_px, size_px, 4), dtype=np.uint8)
+    rgb = rgba[:, :, :3]
+    alpha = rgba[:, :, 3]
+
+    # Soft circular plate for contrast on bright contact heatmaps.
+    plate = np.zeros((size_px, size_px), dtype=np.uint8)
+    center = (size_px // 2, size_px // 2)
+    radius = int(size_px * 0.46)
+    cv2.circle(plate, center, radius, 255, thickness=-1, lineType=cv2.LINE_AA)
+    rgba[:, :, 0:3][plate > 0] = (18, 18, 18)
+    alpha[plate > 0] = 140
+
+    thickness = max(2, size_px // 42)
+    font = cv2.FONT_HERSHEY_SIMPLEX
+    font_scale = max(0.35, size_px / 220.0)
+    origin = np.zeros(3, dtype=np.float64)
+    o_xy = _project_mesh_axis_to_screen(origin, size_px=size_px)[:2]
+
+    axes = (
+        ("X", np.array([1.0, 0.0, 0.0]), (230, 70, 70)),
+        ("Y", np.array([0.0, 1.0, 0.0]), (70, 210, 95)),
+        ("Z", np.array([0.0, 0.0, 1.0]), (70, 140, 255)),
+    )
+    # Paint far axes first so nearer shafts occlude correctly.
+    painted = []
+    for label, direction, color in axes:
+        tip = direction * 1.0
+        px, py, depth = _project_mesh_axis_to_screen(tip, size_px=size_px)
+        painted.append((depth, label, color, (px, py)))
+    painted.sort(key=lambda item: item[0], reverse=True)
+
+    layer = np.zeros((size_px, size_px, 3), dtype=np.uint8)
+    for _, label, color, tip_xy in painted:
+        cv2.arrowedLine(
+            layer,
+            o_xy,
+            tip_xy,
+            color,
+            thickness,
+            line_type=cv2.LINE_AA,
+            tipLength=0.28,
+        )
+        (tw, th), _ = cv2.getTextSize(label, font, font_scale, max(1, thickness - 1))
+        # Offset label slightly past the arrow tip, away from origin.
+        dx = tip_xy[0] - o_xy[0]
+        dy = tip_xy[1] - o_xy[1]
+        norm = max(1.0, float(np.hypot(dx, dy)))
+        lx = int(tip_xy[0] + 8 * dx / norm - tw // 2)
+        ly = int(tip_xy[1] + 8 * dy / norm + th // 2)
+        lx = min(max(1, lx), size_px - tw - 1)
+        ly = min(max(th + 1, ly), size_px - 2)
+        cv2.putText(
+            layer,
+            label,
+            (lx, ly),
+            font,
+            font_scale,
+            color,
+            max(1, thickness - 1),
+            cv2.LINE_AA,
+        )
+    # Origin hub on the same contiguous buffer.
+    cv2.circle(layer, o_xy, max(2, thickness), (235, 235, 235), -1, lineType=cv2.LINE_AA)
+
+    mask = np.any(layer > 0, axis=2)
+    rgb[mask] = layer[mask]
+    alpha[mask] = 255
+
+    _AXIS_TRIAD_CACHE[size_px] = rgba
+    return rgba
+
+
+def draw_axis_overlay(
+    rgb: np.ndarray,
+    *,
+    enabled: bool = True,
+    padding_px: int = 12,
+    size_px: int = 96,
+    opacity: float = 1.0,
+) -> np.ndarray:
+    """Composite a fixed top-right mesh-axis triad onto an RGB frame.
+
+    The triad is pre-rendered and cached; orientation is locked to true mesh
+    axes (+X down, +Y left, +Z inward) and does not follow free-rotate.
+    """
+    if not enabled or rgb is None or rgb.size == 0:
+        return rgb
+
+    out = np.ascontiguousarray(rgb)
+    if out.ndim != 3 or out.shape[2] < 3:
+        return out
+
+    triad = _render_axis_triad_rgba(size_px)
+    th, tw = triad.shape[:2]
+    pad = max(0, int(padding_px))
+    h, w = out.shape[:2]
+    x0 = max(0, w - tw - pad)
+    y0 = max(0, pad)
+    x1 = min(w, x0 + tw)
+    y1 = min(h, y0 + th)
+    if x1 <= x0 or y1 <= y0:
+        return out
+
+    roi = out[y0:y1, x0:x1]
+    overlay = triad[: y1 - y0, : x1 - x0]
+    alpha = (overlay[:, :, 3].astype(np.float32) / 255.0) * float(np.clip(opacity, 0.0, 1.0))
+    if alpha.ndim == 2:
+        alpha = alpha[:, :, None]
+    rgb_o = overlay[:, :, :3].astype(np.float32)
+    base = roi.astype(np.float32)
+    blended = rgb_o * alpha + base * (1.0 - alpha)
+    roi[:] = np.clip(blended, 0, 255).astype(np.uint8)
+    return out
+
+
+def _apply_axis_overlay(rgb: np.ndarray, axis_overlay) -> np.ndarray:
+    if axis_overlay is None:
+        return draw_axis_overlay(rgb)
+    return draw_axis_overlay(
+        rgb,
+        enabled=bool(getattr(axis_overlay, "enabled", True)),
+        padding_px=int(getattr(axis_overlay, "padding_px", 12)),
+        size_px=int(getattr(axis_overlay, "size_px", 96)),
+        opacity=float(getattr(axis_overlay, "opacity", 1.0)),
+    )
+
+
 class _FilamentOffscreenBackend:
     """Filament OffscreenRenderer (Linux headless / platforms with EGL)."""
 
@@ -104,6 +266,7 @@ class _FilamentOffscreenBackend:
         mesh_background: tuple[int, int, int] = (0, 0, 0),
         contact_arrow_style=None,
         flow_arrow_style=None,
+        axis_overlay=None,
     ):
         import open3d as o3d
 
@@ -119,6 +282,7 @@ class _FilamentOffscreenBackend:
         self.lookat = lookat
         self.mesh_lighting = mesh_lighting
         self.mesh_background = mesh_background
+        self.axis_overlay = axis_overlay
         self._shade_factors = (
             precompute_shade_factors(mesh.rest_vertices, mesh.triangles, mesh_lighting)
             if mesh_lighting is not None
@@ -257,7 +421,8 @@ class _FilamentOffscreenBackend:
             mesh_to_o3d=lambda v, t, c: _mesh_to_o3d(o3d, v, t, c),
         )
 
-        return _numpy_o3d_image_to_rgb(self._renderer.render_to_image())
+        rgb = _numpy_o3d_image_to_rgb(self._renderer.render_to_image())
+        return _apply_axis_overlay(rgb, self.axis_overlay)
 
     def close(self) -> None:
         self._renderer = None
@@ -283,6 +448,7 @@ class _HiddenVisualizerBackend:
         mesh_background: tuple[int, int, int] = (0, 0, 0),
         contact_arrow_style=None,
         flow_arrow_style=None,
+        axis_overlay=None,
     ):
         import open3d as o3d
 
@@ -298,6 +464,7 @@ class _HiddenVisualizerBackend:
         self.lookat = lookat
         self.mesh_lighting = mesh_lighting
         self.mesh_background = mesh_background
+        self.axis_overlay = axis_overlay
         self._shade_factors = (
             precompute_shade_factors(mesh.rest_vertices, mesh.triangles, mesh_lighting)
             if mesh_lighting is not None
@@ -441,7 +608,8 @@ class _HiddenVisualizerBackend:
 
         self.vis.poll_events()
         self.vis.update_renderer()
-        return _numpy_o3d_image_to_rgb(self.vis.capture_screen_float_buffer(do_render=False))
+        rgb = _numpy_o3d_image_to_rgb(self.vis.capture_screen_float_buffer(do_render=False))
+        return _apply_axis_overlay(rgb, self.axis_overlay)
 
     def close(self) -> None:
         if self.vis is not None:
@@ -478,6 +646,7 @@ class OffscreenFingerMeshRenderer:
         mesh_background: tuple[int, int, int] = (0, 0, 0),
         contact_arrow_style=None,
         flow_arrow_style=None,
+        axis_overlay=None,
     ):
         lookat = lookat if lookat is not None else mesh.rest_vertices.mean(axis=0)
         self._backend = _create_backend(
@@ -495,6 +664,7 @@ class OffscreenFingerMeshRenderer:
             mesh_background=mesh_background,
             contact_arrow_style=contact_arrow_style,
             flow_arrow_style=flow_arrow_style,
+            axis_overlay=axis_overlay,
         )
 
     @property