data = csvread('Results/recorded_joints_torque.csv');

time = data(:,1);
time = time/100000;
right_joint1 = data(:,2);
right_joint2 = data(:,3);
right_joint3 = data(:,4);
right_joint4 = data(:,5);
right_joint5 = data(:,6);
right_joint6 = data(:,7);

figure;


plot(time, right_joint4*1000, 'b', 'LineWidth', 0.5);
hold on
set(gca, 'XTick', 0:5:60, 'YTick', -0.75*1000:0.5*1000:2.75*1000, 'FontName', AxisFontName, 'FontSize', AxisFontSize)



grid on
axis ([0 35 -0.75*1000 2.75*1000])
meh=[];

for n=1:size(right_joint4)
   
    meh(n)=right_joint4(n)*500*0.7;
    
end

plot(time, meh, 'r', 'LineWidth', 0.5);

legend('joint`s torque', 'torque generated') 
title('Knee roll', 'Fontsize', AxisFontSize, 'FontName', AxisFontName)
xlabel('Time [s]', 'Fontsize', AxisFontSize, 'FontName', AxisFontName)
ylabel('Torque [Nmm]', 'Fontsize', AxisFontSize, 'FontName', AxisFontName)

export_fig torque_filtered -pdf -transparent