close all
clear all

m0=load('traject=-90+00#T=050#M=m0#t_pos_vel_curr_posTh_velTh.txt');
m421=load('traject=-90+00#T=050#M=m421#kp000kd000#t_pos_vel_curr_posTh_velTh.txt');

e0=m0(:,5)-m0(:,2);
e421=m421(:,5)-m421(:,2);

axes('fontsize',14);
plot(m0(:,1),m0(:,5),'k',m0(:,1),m0(:,2),'b',m421(:,1),m421(:,2),'r','linewidth',2)
axis([0 1.5 -100 10])
grid on
xlabel('time (s)');
ylabel('Position (degrees)')
legend('Requested traj.','9g Load','1378g Load','location','SouthEast');