text: import numpy as np
  import pylab as pl
  
  class Ploting:
  
    def __init__(self):
  
      self.x  = []
      self.q1 = []
      self.q2 = []
      self.q3 = []
      self.q4 = []
      self.q5 = []
  
    def addNewVal(self,value,time):
      self.x  += [time]
      self.q1 += [value[0]]
      self.q2 += [value[1]]
      self.q3 += [value[2]]
      self.q4 += [value[3]]
      self.q5 += [value[4]]
  
    def plot(self):
      self.plot1 = pl.plot(self.x,self.q1,'r',animated = True)
      self.plot2 = pl.plot(self.x,self.q2,'b',animated = True)
      self.plot3 = pl.plot(self.x,self.q3,'g',animated = True)
      self.plot4 = pl.plot(self.x,self.q4,'c',animated = True)
      self.plot5 = pl.plot(self.x,self.q5,'m',animated = True)
      pl.title('Plot Different articulations angles')
      pl.xlabel('Plot by sequence')
      pl.ylabel('Angle in tick motor')
      pl.legend([self.plot1,self.plot2,self.plot3,self.plot4,self.plot5],('q1','q2','q3','q4','q5'), 'best' , numpoints=1)
      pl.show()
  
    def update(self):
      
      self.plot1.set_ydata(self.q1)
      self.plot2.set_ydata(self.q2)
      self.plot3.set_ydata(self.q3)
      self.plot4.set_ydata(self.q4)
      self.plot5.set_ydata(self.q5)
  
  if (__name__) == '__main__':
  
    x =[1,2,3,4,5]
    y1 =[220,230,250,150,200]
    y2 =[200,160,150,100,300]
    y3 =[180,160,150,150,300]
    y4 =[220,230,250,150,200]
    y5 =[200,160,150,100,300]
  
    plotter = Ploting()
  
    plotter.addNewVal(y1) 
    plotter.addNewVal(y2) 
    plotter.addNewVal(y3)
    plotter.addNewVal(y4) 
    plotter.addNewVal(y5) 
    plotter.plot()
  