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"source": [
"# Get dictionary of logged scalar variables\n",
"log_vars = simulator.log_data['variables']\n",
"\n",
"# Let's plot the joint position to see the pendulum fall.\n",
"import matplotlib.pyplot as plt\n",
"\n",
"plt.plot(log_vars['Global.Time'], log_vars['currentPositionPendulum'])\n",
"plt.title('Pendulum angle (rad)')\n",
"plt.grid()\n",
"plt.show()"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"The results of a simulation can also be visualized in a 3D viewer: either `panda3d` or `meshcat`. We use the latter here as it can be integrated in jupyter."
]
},
{
"cell_type": "code",
"execution_count": 4,
"metadata": {
"scrolled": false
},
"outputs": [
{
"name": "stderr",
"output_type": "stream",
"text": [
"Rendering frames: 100%|██████████| 300/300 [00:01<00:00, 205.96it/s]\n"
]
},
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"source": [
"tabbed_fig = simulator.plot()\n",
"tabbed_fig.figure.set_size_inches(12, 6)"
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}
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