diff --git a/python/examples/.cart_pulling.py.swp b/python/examples/.cart_pulling.py.swp
index 1e3db6e2e2ea153f62b9d8f4e40c73cfd5e6ea9b..b7c97396aebcf2267653da4c60596a8c43fb31f2 100644
Binary files a/python/examples/.cart_pulling.py.swp and b/python/examples/.cart_pulling.py.swp differ
diff --git a/python/examples/cart_pulling.py b/python/examples/cart_pulling.py
index 86dca387084348ab27f3434fe4dc061fc6fe11fd..66b33e798ae32937abc7fea661ea359407526c69 100644
--- a/python/examples/cart_pulling.py
+++ b/python/examples/cart_pulling.py
@@ -194,8 +194,18 @@ def cartPullingControlLoop(args, robot : RobotManager, goal, solver_grasp, solve
     if past_data['priority_register'][-1][1] == '1' and priority_register[1] == '0': 
         # create straight line path from ee to base
         p_cart = q[:2]
-        p_ee = T_w_e.translation[:2]
-        straigh_line_path = np.linspace(p_ee, p_cart, args.past_window_size)
+        if robot.robot_name != "yumi":
+            p_ee = T_w_e.translation[:2]
+            straigh_line_path = np.linspace(p_ee, p_cart, args.past_window_size)
+        else:
+            p_ee_l = T_w_e_left.translation[:2]
+            p_ee_r = T_w_e_right.translation[:2]
+        # MASSIVE TODO: have two different REFERENCES FOR TWO ARMS
+        # EVILLLLLLLLLLLLLLLLLLLLLLLLLLll
+        # MASSIVE TODO: have two different REFERENCES FOR TWO ARMS
+        # MASSIVE TODO: have two different REFERENCES FOR TWO ARMS
+        # MASSIVE TODO: have two different REFERENCES FOR TWO ARMS
+            straigh_line_path = np.linspace(p_ee_l, p_cart, args.past_window_size)
         # time it the same way the base path is timed 
         time_past = np.linspace(0.0, args.past_window_size * robot.dt, args.past_window_size)
         s = np.linspace(0.0, args.n_knots * args.ocp_dt, args.past_window_size)
diff --git a/python/ur_simple_control/clik/.clik.py.swp b/python/ur_simple_control/clik/.clik.py.swp
index 3dd35d54e6b1f3bcee9bb7b2e5175e414d2190fc..4f63782936cd661ef1ccba5b4d9e81eb3873b0a1 100644
Binary files a/python/ur_simple_control/clik/.clik.py.swp and b/python/ur_simple_control/clik/.clik.py.swp differ