diff --git a/python/tutorial.ipynb b/python/tutorial.ipynb
index 0c7be7be..c0933859 100644
--- a/python/tutorial.ipynb
+++ b/python/tutorial.ipynb
@@ -1360,16 +1360,18 @@
     "lines = ax[0,0].plot(sim_time, force)\n",
     "ax[0,0].set_title('contact force')\n",
     "ax[0,0].set_ylabel('Newton')\n",
-    "ax[0,0].legend(iter(lines), ('normal z', 'friction x', 'friction y'));\n",
+    "ax[0,0].legend(lines, ('normal z', 'friction x', 'friction y'));\n",
     "\n",
     "ax[1,0].plot(sim_time, acceleration)\n",
     "ax[1,0].set_title('acceleration')\n",
     "ax[1,0].set_ylabel('(meter,radian)/s/s')\n",
+    "ax[1,0].legend(['ax', 'ay', 'az', 'αx', 'αy', 'αz'])\n",
     "\n",
     "ax[2,0].plot(sim_time, velocity)\n",
     "ax[2,0].set_title('velocity')\n",
     "ax[2,0].set_ylabel('(meter,radian)/s')\n",
     "ax[2,0].set_xlabel('second')\n",
+    "ax[2,0].legend(['vx', 'vy', 'vz', 'ωx', 'ωy', 'ωz'])\n",
     "\n",
     "ax[0,1].plot(sim_time, ncon)\n",
     "ax[0,1].set_title('number of contacts')\n",