diff --git a/python/examples/graz/clik_client.py b/python/examples/graz/clik_client.py
index 59d71a8b43bc95140f53181f5492a88d31583a24..925a570cdb8ed8c836a6aa56c72c029d82cabc13 100644
--- a/python/examples/graz/clik_client.py
+++ b/python/examples/graz/clik_client.py
@@ -50,17 +50,17 @@ def controlLoopClikExternalGoal(
     T_w_e = robot.getT_w_e()
     data = receiver.getData()
     T_goal = data["T_goal"]
-    print(T_goal)
     # print("translation:", T_goal.translation)
     # print("rotation:", pin.Quaternion(T_goal.rotation))
     SEerror = T_w_e.actInv(T_goal)
     err_vector = pin.log6(SEerror).vector
     J = pin.computeFrameJacobian(robot.model, robot.data, q, robot.ee_frame_id)
+    K = np.diag([30, 30, 30, 15, 15, 15])
 
     qd_cmd = (
         J.T
         @ np.linalg.inv(J @ J.T + np.eye(J.shape[0], J.shape[0]) * args.tikhonov_damp)
-        @ (err_vector + data["v"])
+        @ (K @ err_vector + data["v"])
     )
     if qd_cmd is None:
         print("the controller you chose didn't work, using dampedPseudoinverse instead")
@@ -69,6 +69,13 @@ def controlLoopClikExternalGoal(
     # NOTE: this will also receive a velocity
     # i have no idea what to do with that velocity
     robot.sendQd(qd_cmd)
+    #print(*T_goal.translation)
+    print(*(T_w_e.translation), end=" ")
+    print(*(pin.Quaternion(T_w_e.rotation).coeffs()), end=" ")
+    qd_cmd = np.clip(qd_cmd, -1 * self.max_qd, self.max_qd)
+    J = pin.computeFrameJacobian(robot.model, robot.data, q, robot.ee_frame_id, pin.ReferenceFrame.WORLD)
+    print(*(J @ qd_cmd), end=" ")
+    print(*(i * robot.dt))
     # NOTE: this one is in the base frame! (as it should be)
     # it is saved in robotmanager (because it's a private variable,
     # yes this is evil bla bla)
@@ -120,6 +127,8 @@ if __name__ == "__main__":
     loop_manager.run()
 
     # get expected behaviour here (library can't know what the end is - you have to do this here)
+    if args.save_log:
+        robot.log_manager.saveLog()
     if not args.pinocchio_only:
         robot.stopRobot()
 
@@ -129,6 +138,4 @@ if __name__ == "__main__":
     if args.visualizer:
         robot.killManipulatorVisualizer()
 
-    if args.save_log:
-        robot.log_manager.saveLog()
     # loop_manager.stopHandler(None, None)
diff --git a/python/examples/graz/output b/python/examples/graz/output
new file mode 100644
index 0000000000000000000000000000000000000000..b1b589a1155c94a855e23c945f522dd52711f55e
--- /dev/null
+++ b/python/examples/graz/output
@@ -0,0 +1,25562 @@
+CONNECTING TO UR5e!
+Will read from f/t sensors for a some number of seconds
+and give you the average.
+Use this as offset.
+[-0.11499985  0.05966759 -0.01532474 -0.004235   -0.0039895   0.00162132]
+arrived at initial position
+====================
+[ 0.49887334 -0.01245131  0.08308738]
+[ 0.49884557 -0.01248853  0.08309381]
+====================
+[ 0.49887334 -0.01245131  0.08308738]
+[ 0.49884311 -0.01247763  0.08309696]
+====================
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+[ 0.49882403 -0.01248499  0.08307749]
+====================
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+====================
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+[ 0.49881844 -0.01248598  0.08310667]
+====================
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+[ 0.49881858 -0.01249682  0.0830801 ]
+====================
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+[ 0.49879508 -0.01249066  0.08308426]
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+====================
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+====================
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+[ 0.54239806 -0.25827174  0.08183442]
+====================
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+[ 0.54240822 -0.25829019  0.08184168]
+====================
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+[ 0.54241687 -0.25827578  0.08185338]
+====================
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+[ 0.5424107  -0.25827409  0.0818525 ]
+====================
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+[ 0.54240904 -0.25826571  0.08186911]
+====================
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+[ 0.54239189 -0.25827782  0.08183172]
+====================
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+====================
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+====================
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+[ 0.54241526 -0.25827093  0.08186036]
+====================
+[ 0.54241591 -0.25826229  0.08184188]
+You can open the visualizer by visiting the following URL:
+http://127.0.0.1:7000/static/
+MANIPULATORVISUALIZER: FULLY ONLINE
diff --git a/python/examples/graz/output_with_gain b/python/examples/graz/output_with_gain
new file mode 100644
index 0000000000000000000000000000000000000000..fd54fb560b6034bc8a74e57114f4ba70c1c7d799
--- /dev/null
+++ b/python/examples/graz/output_with_gain
@@ -0,0 +1,68848 @@
+CONNECTING TO UR5e!
+Will read from f/t sensors for a some number of seconds
+and give you the average.
+Use this as offset.
+[ 0.06809098 -0.02847144 -0.07053471 -0.00252312 -0.00331201 -0.00351478]
+arrived at initial position
+====================
+[ 0.50265371 -0.016041    0.08281587]
+[ 0.50261661 -0.01600611  0.08285036]
+====================
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+====================
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+====================
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+====================
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+[ 0.54241272 -0.25830184  0.08185853]
+====================
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+You can open the visualizer by visiting the following URL:
+http://127.0.0.1:7000/static/
+MANIPULATORVISUALIZER: FULLY ONLINE
+[ 0.54240493 -0.25825231  0.08182026]
+====================
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+====================
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+====================
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+[ 0.54243071 -0.25825624  0.08184873]
+sending 300 speedjs full of zeros and exiting
+sending 300 speedjs full of zeros and exiting
+sending a stopj as well
+putting it to freedrive for good measure too
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