diff --git a/arduino/loadcell/loadcell.ino b/arduino/loadcell/loadcell.ino
index fa0eb200e5e06f6139b1125b207d722a06fcf4f8..71753ed98653c159e52a2a4f52a009e92ea1cc4e 100644
--- a/arduino/loadcell/loadcell.ino
+++ b/arduino/loadcell/loadcell.ino
@@ -6,10 +6,10 @@
 const int LOADCELL_DOUT_PIN = 2;
 const int LOADCELL_SCK_PIN = 3;
 
-const float calibration_weight = 4.9;
+const float calibration_weight = 4900.0;
 float zero_reading, load_reading;
 
-const float calibration_factor = -479404.84;
+const float calibration_factor = -99.52;
 
 
 HX711 scale;
@@ -25,26 +25,11 @@ void setup() {
   // default "128" (Channel A) is used here.
   scale.begin(LOADCELL_DOUT_PIN, LOADCELL_SCK_PIN);
 
-  //Serial.print("offset: ");
-  //Serial.print(scale.get_offset(), DEC);
-  //Serial.print("\t scale: ");
-  //Serial.println(scale.get_scale(), DEC);
-
-  //Serial.println("tare the scale. in 3 sec. Make sure it is unloaded");
-
   delay(3);
 
-
   // determine the offset - setup: no load
   scale.tare();  // sets the offset value within scale to current value of reading
   zero_reading = scale.read_average(10); //average over 10 vales
-  //scale.set_scale(); 
-  //scale.get_units(10);
-
-  //Serial.print("offset: ");
-  //Serial.print(scale.get_offset(), DEC);
-  //Serial.print("\t scale: ");
-  //Serial.println(scale.get_scale(), DEC);
 
 
   //delay(2);
@@ -55,28 +40,13 @@ void setup() {
     //}
     
   //load_reading = scale.read_average(10);
-  /*Serial.print("zero and load reading: ");
-  Serial.print(zero_reading, DEC);
-  Serial.print("  ");
-  Serial.println(load_reading, DEC);*/
+
   //scale.set_scale((load_reading - zero_reading)/calibration_weight);  // this value is obtained by calibrating the scale with known weights; see the README for details
   //incomingByte = Serial.read();   // clear the receive buffer by assigning value to var
 
   //Serial.print("the calibration factor is:  ");
   //Serial.println(load_reading - zero_reading/calibration_weight);
   
-/*
-  Serial.println("set scale....");
-  Serial.print("offset: ");
-  Serial.print(scale.get_offset(), DEC);
-  Serial.print("\t scale: ");
-  Serial.println(scale.get_scale(), DEC);
-
-  Serial.print("get_value: ");
-  Serial.print(scale.get_value());
-  Serial.print("\t get_units: ");
-  Serial.println(scale.get_units());
-*/
   scale.set_scale(calibration_factor);
   
   //Serial.println("load cell is setup. Start reading now...");
diff --git a/python/abb_egm_pyclient/abb_egm_pyclient/feedback/control_final.py b/python/abb_egm_pyclient/abb_egm_pyclient/feedback/control_final.py
index 4c63f96893a48cd5b2994b8c018bcffac3b1e8a8..027c0725c17491f6daf52e15495830f35e1ba53c 100644
--- a/python/abb_egm_pyclient/abb_egm_pyclient/feedback/control_final.py
+++ b/python/abb_egm_pyclient/abb_egm_pyclient/feedback/control_final.py
@@ -58,7 +58,7 @@ egm_client_R = EGMClient(port=UDP_PORT_RIGHT)
 egm_client_L = EGMClient(port=UDP_PORT_LEFT)
 
 yumi_right = invKin.Yumi("/home/joschua/Coding/forceControl/master-project/c++/models/urdf/yumi_right.urdf")
-yumi_right.set_operationPoint(1.0)
+yumi_right.set_operationPoint(5.0) 
 yumi_right.set_kp(0.05)
 yumi_right.set_hybridControl(False)
 yumi_right.set_transitionTime(3.0)
diff --git a/python/serial_interface/readSerial.py b/python/serial_interface/readSerial.py
index 3e84ed0b2468e5e6faf51b9b2eabb8d220252c80..db1f7b212673c0e7041ece70836664e1c5d0ab9b 100644
--- a/python/serial_interface/readSerial.py
+++ b/python/serial_interface/readSerial.py
@@ -9,7 +9,6 @@ Instructions how to use this:
 4. readings that are sent from arduino are read and ready for processing
 '''
 
-
 # find active ports
 ports = serial.tools.list_ports.comports()
 arduino = serial.Serial()
@@ -36,30 +35,12 @@ arduino.flushInput()
 while not arduino.in_waiting:
     pass
     
-#print("Mount the calibration weight to the load cell and then hit ENTER")
-#print("message from arduino: " + arduino.readline().decode('utf-8').rstrip('\n'))
-#print("message from arduino: " + arduino.readline().decode('utf-8').rstrip('\n'))
-#input()
-#arduino.write(bytes('0', 'utf-8'))
-
-#sleep(1)
-time_prev = time()
-timestamp = time()
 
 while True:
     if arduino.in_waiting: # get the number of bytes in the input buffer
         packet = arduino.readline() # type: bytes  
-        time_diff = time() - time_prev  
         str_receive = packet.decode('utf-8').rstrip('\n')
-        print(str_receive)
-        force = float(str_receive)
-        #print(f"force as float is {force}")
-        #print("serial freq: " + str(1/time_diff))
-        time_prev = time()
-        #arduino.flushInput()
-        print(time())
-        sleep(1/80)
+        force = float(str_receive)/1000.0
+        print(force)
+
     
-    if (time() - timestamp) >= (1.0/80.0):
-        print(time()-timestamp)
-        timestamp = time()