Added demo gif to README.

README.md

@@ -8,6 +8,7 @@
 
 <img src="docs/assets/images/social/logo.svg" align="right" width="200" alt="header pic"/>
 
+
 ## What Is PyPolo? 🧐
 PyPolo is a Python library for Robotic Information Gathering (RIG) -- a robotics research area that aims to answer:
 
@@ -31,6 +32,8 @@ An illustration of RIG's potential use case is an Autonomous Surface Vehicle (AS
 
 <img src="docs/assets/images/framework/framework.png" width="70%"/>
 
+<img src="docs/assets/images/social/terrain_mapping.gif"  width="70%"/>
+
 ## Why Would I Use PyPolo? 🤷
 
 You might be interested in this library if you would like to

demo/main.py

@@ -1,18 +1,38 @@
+import math
 import numpy as np
 import pypolo
 import pyvista as pv
+from tqdm import tqdm
 
 array = np.load("./data/N17E073.npy").astype(np.float64)
 array /= 100
 array = array[:, :, np.newaxis]
 env = pypolo.utils.TensorMap(array, origin=np.zeros(3), resolution=0.1)
 
-plotter = pv.Plotter()
+plotter = pv.Plotter(off_screen=True)
 terrain = env.grid.warp_by_scalar()
-plotter.add_mesh(terrain, cmap="terrain")
-plotter.add_axes(interactive=True)
-auv = pv.read("./data/auv.stl")
-auv = auv.translate([0, 0, array.max()]).scale(2)
-plotter.add_mesh(auv, color="orange")
-plotter.add_bounding_box(line_width=1, color='grey')
-plotter.show()
+robot_mesh = pv.read("./data/robot_mesh.stl")
+robot_mesh = robot_mesh.translate([0, 0, array.max()]).scale(2)
+
+state = np.array([5.0, 5.0, 0, 10.0, 0])
+robot = pypolo.robots.DifferentialDriveRobot(hertz=60.0, state=state)
+
+plotter.open_gif("./animation.gif")
+num_steps = 100
+for i in tqdm(range(num_steps)):
+    action = np.array([0.0, np.random.uniform(-0.5, 0.5)])
+    robot.take(action)
+    updated_robot_mesh = robot_mesh.rotate_z(
+        robot.state[2] * 180 / math.pi).translate(
+            (robot.state[0], robot.state[1], 0))
+
+    plotter.add_axes()
+    plotter.add_mesh(terrain, cmap="terrain", lighting=False)
+    plotter.add_mesh(updated_robot_mesh, color="orange", lighting=False)
+    plotter.add_bounding_box(line_width=1, color='grey')
+    plotter.add_text(f"Timestep: {i:03d}", font_size=18)
+
+    plotter.write_frame()
+    plotter.clear()
+
+plotter.close()