diff --git a/scripts/LoggerControl.py b/scripts/LoggerControl.py
index 7a52156376fbf9d18a4ddf4fa5d1fde196a1b00d..6ed7d23d0eb3863fe08763699dcd3e84224222bf 100644
--- a/scripts/LoggerControl.py
+++ b/scripts/LoggerControl.py
@@ -345,6 +345,7 @@ class LoggerControl():
             if i < 3:
                 plt.plot(t_range, self.mocap_h_v[:, i], "k", linewidth=3)
                 plt.plot(t_range, self.loop_h_v_filt_mpc[:, i], linewidth=3, color="forestgreen")
+                plt.plot(t_range, self.loop_h_v_windowed[:, i], linewidth=3, color="rebeccapurple")
             else:
                 plt.plot(t_range, self.mocap_b_w[:, i-3], "k", linewidth=3)
 
@@ -355,7 +356,8 @@ class LoggerControl():
             # plt.plot(t_range, self.log_dq[i, :], "g", linewidth=2)
             # plt.plot(t_range[:-2], self.log_dx_invkin[i, :-2], "g", linewidth=2)
             # plt.plot(t_range[:-2], self.log_dx_ref_invkin[i, :-2], "violet", linewidth=2, linestyle="--")
-            plt.legend(["Robot state", "Robot reference state", "Ground truth", "Robot state (LP 15Hz)"], prop={'size': 8})
+            plt.legend(["Robot state", "Robot reference state", "Ground truth",
+                        "Robot state (LP 15Hz)", "Robot state (windowed)"], prop={'size': 8})
             plt.ylabel(lgd[i])
         plt.suptitle("Measured & Reference linear and angular velocities")