diff --git a/src/RSIPI/rsi_api.py b/src/RSIPI/rsi_api.py
index 9d4f02a..76a582b 100644
--- a/src/RSIPI/rsi_api.py
+++ b/src/RSIPI/rsi_api.py
@@ -15,54 +15,6 @@ from src.RSIPI.live_plotter import LivePlotter
 from threading import Thread
 import asyncio
 
-
-def generate_report(filename, format_type):
-    """
-    Generate a statistical report from a CSV log file.
-
-    Args:
-        filename (str): Path to the CSV file (or base name without .csv).
-        format_type (str): 'csv', 'json', or 'pdf'
-    """
-    # Ensure filename ends with .csv
-    if not filename.endswith(".csv"):
-        filename += ".csv"
-
-    if not os.path.exists(filename):
-        raise FileNotFoundError(f"❌ File not found: {filename}")
-
-    df = pd.read_csv(filename)
-
-    # Only keep relevant columns (e.g. actual positions)
-    position_cols = [col for col in df.columns if col.startswith("Receive.RIst.")]
-    if not position_cols:
-        raise ValueError("❌ No 'Receive.RIst' position columns found in CSV.")
-
-    report_data = {
-        "Max Position": df[position_cols].max().to_dict(),
-        "Mean Position": df[position_cols].mean().to_dict(),
-    }
-
-    report_base = filename.replace(".csv", "")
-    output_path = f"{report_base}_report.{format_type.lower()}"
-
-    if format_type == "csv":
-        pd.DataFrame(report_data).T.to_csv(output_path)
-    elif format_type == "json":
-        with open(output_path, "w") as f:
-            json.dump(report_data, f, indent=4)
-    elif format_type == "pdf":
-        fig, ax = plt.subplots()
-        pd.DataFrame(report_data).T.plot(kind='bar', ax=ax)
-        ax.set_title("RSI Position Report")
-        plt.tight_layout()
-        plt.savefig(output_path)
-    else:
-        raise ValueError(f"❌ Unsupported format: {format_type}")
-
-    return f"✅ Report saved as {output_path}"
-
-
 class RSIAPI:
     """RSI API for programmatic control, including alerts, logging, graphing, and data retrieval."""
 
@@ -95,6 +47,52 @@ class RSIAPI:
         self.client.stop()
         return "✅ RSI stopped."
 
+    def generate_report(filename, format_type):
+        """
+        Generate a statistical report from a CSV log file.
+
+        Args:
+            filename (str): Path to the CSV file (or base name without .csv).
+            format_type (str): 'csv', 'json', or 'pdf'
+        """
+        # Ensure filename ends with .csv
+        if not filename.endswith(".csv"):
+            filename += ".csv"
+
+        if not os.path.exists(filename):
+            raise FileNotFoundError(f"❌ File not found: {filename}")
+
+        df = pd.read_csv(filename)
+
+        # Only keep relevant columns (e.g. actual positions)
+        position_cols = [col for col in df.columns if col.startswith("Receive.RIst.")]
+        if not position_cols:
+            raise ValueError("❌ No 'Receive.RIst' position columns found in CSV.")
+
+        report_data = {
+            "Max Position": df[position_cols].max().to_dict(),
+            "Mean Position": df[position_cols].mean().to_dict(),
+        }
+
+        report_base = filename.replace(".csv", "")
+        output_path = f"{report_base}_report.{format_type.lower()}"
+
+        if format_type == "csv":
+            pd.DataFrame(report_data).T.to_csv(output_path)
+        elif format_type == "json":
+            with open(output_path, "w") as f:
+                json.dump(report_data, f, indent=4)
+        elif format_type == "pdf":
+            fig, ax = plt.subplots()
+            pd.DataFrame(report_data).T.plot(kind='bar', ax=ax)
+            ax.set_title("RSI Position Report")
+            plt.tight_layout()
+            plt.savefig(output_path)
+        else:
+            raise ValueError(f"❌ Unsupported format: {format_type}")
+
+        return f"✅ Report saved as {output_path}"
+
     def update_variable(self, name, value):
         if "." in name:
             parent, child = name.split(".", 1)
@@ -483,12 +481,24 @@ class RSIAPI:
     def update_cartesian(self, **kwargs):
         """
         Update Cartesian correction values (RKorr).
-        Example: update_cartesian(X=10.0, Y=0.0, Z=0.0)
         """
+        self._ensure_client()
+        if "RKorr" not in self.client.send_variables:
+            print("⚠️ Warning: RKorr not configured in send_variables. Skipping Cartesian update.")
+            return
+
         for axis, value in kwargs.items():
             self.update_variable(f"RKorr.{axis}", float(value))
 
     def update_joints(self, **kwargs):
+        """
+        Update joint correction values (AKorr).
+        """
+        self._ensure_client()
+        if "AKorr" not in self.client.send_variables:
+            print("⚠️ Warning: AKorr not configured in send_variables. Skipping Joint update.")
+            return
+
         for axis, value in kwargs.items():
             self.update_variable(f"AKorr.{axis}", float(value))
 
@@ -516,3 +526,84 @@ class RSIAPI:
 
         except KeyboardInterrupt:
             print("\n🛑 Stopped network watch.")
+
+    # --- 🤖 High-level Cartesian and Joint Trajectory Movement ---
+
+    def move_cartesian_trajectory(self, start_pose, end_pose, steps=50, rate=0.012):
+        """
+        Generate and execute a Cartesian (TCP) movement between two poses.
+        Args:
+            start_pose (dict): e.g. {"X":0, "Y":0, "Z":500}
+            end_pose (dict): e.g. {"X":100, "Y":0, "Z":500}
+            steps (int): Number of interpolation points.
+            rate (float): Time between points in seconds.
+        """
+        trajectory = self.generate_trajectory(start_pose, end_pose, steps=steps, space="cartesian")
+        self.execute_trajectory(trajectory, space="cartesian", rate=rate)
+
+    def move_joint_trajectory(self, start_joints, end_joints, steps=50, rate=0.4):
+        """
+        Generate and execute a Joint-space movement between two poses.
+        Args:
+            start_joints (dict): e.g. {"A1":0, "A2":0, "A3":0, ...}
+            end_joints (dict): e.g. {"A1":90, "A2":0, "A3":0, ...}
+            steps (int): Number of interpolation points.
+            rate (float): Time between points in seconds.
+        """
+        trajectory = self.generate_trajectory(start_joints, end_joints, steps=steps, space="joint")
+        self.execute_trajectory(trajectory, space="joint", rate=rate)
+
+    def queue_cartesian_trajectory(self, start_pose, end_pose, steps=50, rate=0.012):
+        """
+        Generate and queue a Cartesian movement (no execution).
+        """
+        if not isinstance(start_pose, dict) or not isinstance(end_pose, dict):
+            raise ValueError("❌ start_pose and end_pose must be dictionaries (e.g., {'X': 0, 'Y': 0, 'Z': 500})")
+        if steps <= 0:
+            raise ValueError("❌ Steps must be greater than zero.")
+        if rate <= 0:
+            raise ValueError("❌ Rate must be greater than zero.")
+
+        trajectory = self.generate_trajectory(start_pose, end_pose, steps=steps, space="cartesian")
+        self.queue_trajectory(trajectory, "cartesian", rate)
+
+    def queue_joint_trajectory(self, start_joints, end_joints, steps=50, rate=0.4):
+        """
+        Generate and queue a Joint-space movement (no execution).
+        """
+        if not isinstance(start_joints, dict) or not isinstance(end_joints, dict):
+            raise ValueError("❌ start_joints and end_joints must be dictionaries (e.g., {'A1': 0, 'A2': 0})")
+        if steps <= 0:
+            raise ValueError("❌ Steps must be greater than zero.")
+        if rate <= 0:
+            raise ValueError("❌ Rate must be greater than zero.")
+
+        trajectory = self.generate_trajectory(start_joints, end_joints, steps=steps, space="joint")
+        self.queue_trajectory(trajectory, "joint", rate)
+
+    # --- 🛡️ Safety Management ---
+
+    def safety_stop(self):
+        """Trigger emergency stop."""
+        self._ensure_client()
+        self.client.safety_manager.emergency_stop()
+
+    def safety_reset(self):
+        """Reset emergency stop."""
+        self._ensure_client()
+        self.client.safety_manager.reset_stop()
+
+    def safety_status(self):
+        """Return detailed safety status."""
+        self._ensure_client()
+        sm = self.client.safety_manager
+        return {
+            "emergency_stop": sm.is_stopped(),
+            "safety_override": self.is_safety_overridden(),
+            "limits": sm.get_limits(),
+        }
+
+    def safety_set_limit(self, variable, lower, upper):
+        """Set new safety limit bounds for a specific variable."""
+        self._ensure_client()
+        self.client.safety_manager.set_limit(variable, float(lower), float(upper))
diff --git a/src/RSIPI/rsi_cli.py b/src/RSIPI/rsi_cli.py
index f35e6a5..145b4a8 100644
--- a/src/RSIPI/rsi_cli.py
+++ b/src/RSIPI/rsi_cli.py
@@ -44,7 +44,8 @@ class RSICommandLineInterface:
                 group = parts[0]
             self.client.show_variables(group)
         elif cmd == "ipoc":
-            self.client.get_ipoc()
+            ipoc = self.client.get_ipoc()
+            print(f"🛰 Current IPOC: {ipoc}")
         elif cmd == "watch":
             duration = float(parts[0]) if parts else None
             self.client.watch_network(duration=duration)
@@ -279,7 +280,7 @@ class RSICommandLineInterface:
         if format_type not in ["csv", "json", "pdf"]:
             print("❌ Invalid format. Use 'csv', 'json', or 'pdf'.")
             return
-        generate_report(filename, format_type)
+        self.client.generate_report(filename, format_type)
         print(f"✅ Report generated: {filename}.{format_type}")
 
 
@@ -323,15 +324,15 @@ Available Commands:
   set_alert_threshold <deviation|force> <value>
         """)
 
-    def visualize(self, csv_file, export=False):
+    def visualise(self, csv_file, export=False):
         try:
-            visualizer = Kukarsivisualiser(csv_file)
-            visualizer.plot_trajectory()
-            visualizer.plot_joint_positions()
-            visualizer.plot_force_trends()
+            visualiser = KukaRSIVisualiser(csv_file)
+            visualiser.plot_trajectory()
+            visualiser.plot_joint_positions()
+            visualiser.plot_force_trends()
 
             if export:
-                visualizer.export_graphs()
+                visualiser.export_graphs()
                 print(f"✅ Visualisations exported for '{csv_file}'")
         except Exception as e:
             print(f"❌ Failed to visualize '{csv_file}': {e}")