Ch13 current state

ch-13/full-version/computer/display_from_robot.py

@@ -15,6 +15,7 @@ class RobotDisplay:
         self.display_closed = False
         self.fig, self.ax = plt.subplots()
         self.poses = np.zeros([200, 3], dtype=np.int16)
+        self.motion = np.zeros([200, 3], dtype=float)
 
     def handle_close(self, _):
         self.display_closed = True
@@ -39,6 +40,9 @@ class RobotDisplay:
                 print("Incoming poses shape", incoming_poses.shape)
                 print("Existing poses shape", self.poses.shape)
                 self.poses[message["offset"]: message["offset"] + incoming_poses.shape[0]] = incoming_poses
+            if "motion" in message:
+                np.roll(self.motion, 1, axis=0)
+                self.motion[0] = [message["motion"]["rot1"], message["motion"]["trans"], message["motion"]["rot2"]]
 
     def draw(self):
         self.ax.clear()