Update app.py

app.py

@@ -1,19 +1,25 @@
 import gradio as gr
 import matplotlib.pyplot as plt
+import matplotlib.patches as patches
+import numpy as np
 
-pose = {"x": 0, "z": 0}
+pose = {"x": 0, "z": 0, "angle": 0}
 trajectory = [(0, 0)]
 
 def move_robot(direction):
     step = 1
     if direction == "W":
         pose["z"] -= step
+        pose["angle"] = 90
     elif direction == "S":
         pose["z"] += step
+        pose["angle"] = -90
     elif direction == "A":
         pose["x"] -= step
+        pose["angle"] = 180
     elif direction == "D":
         pose["x"] += step
+        pose["angle"] = 0
     trajectory.append((pose["x"], pose["z"]))
     return render_robot_view(), render_slam_map()
 
@@ -22,8 +28,24 @@ def render_robot_view():
     ax.set_title("Robot View (Top Down)")
     ax.set_xlim(-10, 10)
     ax.set_ylim(-10, 10)
-    ax.plot(pose["x"], pose["z"], "ro", label="Robot")
-    ax.legend()
+
+    # Draw the robot as a triangle
+    robot_size = 0.5
+    angle_rad = np.deg2rad(pose["angle"])
+    x, z = pose["x"], pose["z"]
+    triangle = np.array([
+        [0, robot_size],
+        [-robot_size/2, -robot_size/2],
+        [robot_size/2, -robot_size/2]
+    ])
+    rotation_matrix = np.array([
+        [np.cos(angle_rad), -np.sin(angle_rad)],
+        [np.sin(angle_rad), np.cos(angle_rad)]
+    ])
+    rotated_triangle = triangle @ rotation_matrix.T + np.array([x, z])
+    robot_patch = patches.Polygon(rotated_triangle, closed=True, color='red')
+    ax.add_patch(robot_patch)
+
     ax.grid(True)
     return fig
 
@@ -39,7 +61,7 @@ def render_slam_map():
     return fig
 
 with gr.Blocks() as demo:
-    gr.Markdown("## 🤖 Robot Movement + 🗺️ SLAM Path")
+    gr.Markdown("## 🤖 Robot Simulation (Triangle) + 🗺️ SLAM Path")
 
     with gr.Row():
         with gr.Column():