diff --git a/python/examples/.cart_pulling.py.swp b/python/examples/.cart_pulling.py.swp
index 71408b9b7087f65ed9fe6b5d1f62aec4aa34e49c..d083bfd1f0f0bb8d4c446be27b520c46e1d86836 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 aaf3bac4746b0bd70acc754349554d8157fdd2a6..86dca387084348ab27f3434fe4dc061fc6fe11fd 100644
--- a/python/examples/cart_pulling.py
+++ b/python/examples/cart_pulling.py
@@ -128,6 +128,7 @@ def cartPullingControlLoop(args, robot : RobotManager, goal, solver_grasp, solve
     if robot.robot_name != "yumi":
         graspOK, grasp_pose = isGripperRelativeToBaseOK(args, robot)
     else:
+        goal_transform = pin.SE3.Identity()
         graspOK, grasp_pose = areDualGrippersRelativeToBaseOK(args, goal_transform, robot)
     # NOTE: this keeps getting reset after initial grasp has been completed.
     # and we want to let mpc cook