diff --git a/python/examples/cart_pulling_notes.md b/python/examples/cart_pulling_notes.md
new file mode 100644
index 0000000000000000000000000000000000000000..928c8c4b3cef3c4d3865fd4814bc587e91cab462
--- /dev/null
+++ b/python/examples/cart_pulling_notes.md
@@ -0,0 +1,67 @@
+# the desided joint space position
+name:
+- myumi_001_yumi_robr_joint_1
+- myumi_001_yumi_robr_joint_2
+- myumi_001_yumi_robr_joint_3
+- myumi_001_yumi_robr_joint_4
+- myumi_001_yumi_robr_joint_5
+- myumi_001_yumi_robr_joint_6
+- myumi_001_yumi_robr_joint_7
+- myumi_001_yumi_robl_joint_1
+- myumi_001_yumi_robl_joint_2
+- myumi_001_yumi_robl_joint_3
+- myumi_001_yumi_robl_joint_4
+- myumi_001_yumi_robl_joint_5
+- myumi_001_yumi_robl_joint_6
+- myumi_001_yumi_robl_joint_7
+position:
+- 1.1781062998438787
+- -0.000595335227562165
+- -1.749208945070357
+- 0.4106104712156747
+- -2.060408639509931
+- 0.3044975499507672
+- 1.7246295661055797
+- -0.7019778380440242
+- 0.0394624047824147
+- 1.1381740635109037
+- 0.40438559848372346
+- 1.5945463973962233
+- 0.3724310942226761
+- -1.3882579393586854
+velocity: []
+effort: []
+
+# better
+name:
+- myumi_001_yumi_robr_joint_1
+- myumi_001_yumi_robr_joint_2
+- myumi_001_yumi_robr_joint_3
+- myumi_001_yumi_robr_joint_4
+- myumi_001_yumi_robr_joint_5
+- myumi_001_yumi_robr_joint_6
+- myumi_001_yumi_robr_joint_7
+- myumi_001_yumi_robl_joint_1
+- myumi_001_yumi_robl_joint_2
+- myumi_001_yumi_robl_joint_3
+- myumi_001_yumi_robl_joint_4
+- myumi_001_yumi_robl_joint_5
+- myumi_001_yumi_robl_joint_6
+- myumi_001_yumi_robl_joint_7
+position:
+- 1.177726666230488
+- -0.0014802503425588292
+- -1.7605729197578341
+- 0.4215065284996249
+- -1.9415690706067803
+- 0.2803584248036936
+- 1.6919710884998835
+- -0.7879804975484437
+- 0.22470208644656367
+- 1.3406988091378869
+- 0.35854547216754384
+- 1.7128065956042273
+- 0.22850344929702915
+- -1.5302555581528383
+velocity: []
+effort: []
diff --git a/python/examples/data/latest_run b/python/examples/data/latest_run
index 2098a797629da5c383b1c86c8b08c573978ba440..af940e618540c5817f2e410a3e97e7af366131c1 100644
Binary files a/python/examples/data/latest_run and b/python/examples/data/latest_run differ