diff --git a/clik/clik.py b/clik/clik.py
index 38a3b7e9de5266c0791ecd722131ba0108f788e2..6daff4a7d877228e1de5ef9ea84e8cceb644b836 100644
--- a/clik/clik.py
+++ b/clik/clik.py
@@ -66,7 +66,7 @@ Mtool = data.oMi[JOINT_ID]
 print("pos", Mtool)
 #SEerror = pin.SE3(np.zeros((3,3)), np.array([0.0, 0.0, 0.1])
 Mgoal = copy.deepcopy(Mtool)
-Mgoal.translation = Mgoal.translation + np.array([-0.1, 0.0, 0.0])
+Mgoal.translation = Mgoal.translation + np.array([0.0, 0.0, -0.1])
 print("goal", Mgoal)
 eps = 1e-3
 IT_MAX = 100000
@@ -81,6 +81,7 @@ rtde_io.setSpeedSlider(0.5)
 
 # if you just stop it normally, it will continue running
 # the last speedj lmao
+# there's also an actual stop command
 def handler(signum, frame):
     print('sending 100 speedjs full of zeros')
     for i in range(100):
diff --git a/dmp/my_sol/drawing_gen/cliking_the_path.py b/dmp/my_sol/drawing_gen/cliking_the_path.py
index d0b4e926c5fdf68bc9192f64b4bcdbd1d16197e3..01d274b30f9533af1b309d49d0cbb2b952261a1b 100644
--- a/dmp/my_sol/drawing_gen/cliking_the_path.py
+++ b/dmp/my_sol/drawing_gen/cliking_the_path.py
@@ -62,9 +62,17 @@ path[:,1] = -1 * path[:,1] + board_height
 #R = np.array([[ 1.        ,  0.        , 0.1496001 ],
 #       [ 0.        , -0.71010996, 0.68801429],
 #       [ 0.        , -0.68801429,  -0.71010996]])
-R = np.array([[1.,         0.,         0.03236534],
-[ 0.,         -0.82404727,  0.56559577],
-[ 0. ,        -0.56559577, -0.82404727]])
+#R = np.array([[1.,         0.,         0.03236534],
+#[ 0.,         -0.82404727,  0.56559577],
+#[ 0. ,        -0.56559577, -0.82404727]])
+#R = np.array([[1.,         0. ,        0.02588808],
+#[ 0.,         -0.82340404 , 0.56686471],
+#[ 0. ,        -0.56686471 ,-0.82340404]])
+
+R = np.array([[1.        , 0.       ,  0.02562061],
+[ 0.        , -0.82215985 , 0.56867984],
+[ 0.        , -0.56867984 ,-0.82215985]])
+
 
 
 print(R)
@@ -74,7 +82,8 @@ transf_body_to_board = pin.SE3(R, p)
 # offset in z
 # very close
 #path = path + np.array([0.0, 0.0, -0.0238])
-path = path + np.array([0.0, 0.0, -0.1038])
+path = path + np.array([0.0, 0.0, -0.0938])
+#path = path + np.array([0.0, 0.0, -0.1248])
 
 #path = path + np.array([0.0, 0.2, -0.1438])
 for i in range(len(path)):
@@ -96,7 +105,8 @@ eps = 10**-2
 dt = 0.01
 # skip inital pos tho
 #q = np.array([-2.256,-1.408,0.955,-1.721,-1.405,-0.31, 0.0, 0.0])
-q = np.array([-2.014, -1.469, 1.248, -1.97, -1.366, -0.327, 0.0, 0.0])
+#q = np.array([-2.014, -1.469, 1.248, -1.97, -1.366, -0.327, 0.0, 0.0])
+q = np.array([1.584, -1.859, -0.953, -1.309, 1.578, -0.006, 0.0, 0.0])
 INIT_ITER = 10000
 n_iter = INIT_ITER
 RUNNING_ITER = 1000
diff --git a/dmp/my_sol/drawing_gen/path_in_pixels.csv b/dmp/my_sol/drawing_gen/path_in_pixels.csv
index 2b2f9c6b30775c93e4fc2ebcbeb5d170893eb005..50cb59133242c933a0765c8083781b061eaf0076 100644
--- a/dmp/my_sol/drawing_gen/path_in_pixels.csv
+++ b/dmp/my_sol/drawing_gen/path_in_pixels.csv
@@ -1,62 +1,327 @@
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-0.14763,0.49903
-0.14973,0.49903
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diff --git a/dmp/my_sol/new_traj.csv b/dmp/my_sol/new_traj.csv
index e237258e2a55eeca04e27c386bc7e1b7826d8054..e66abd4e00f286573e1ae4449e41fffe9bde449d 100644
--- a/dmp/my_sol/new_traj.csv
+++ b/dmp/my_sol/new_traj.csv
@@ -1,241 +1,1086 @@
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diff --git a/dmp/my_sol/run_dmp.py b/dmp/my_sol/run_dmp.py
index be774e58af25b8e02c40a990de8fdc460e8f7154..554104b7a0b0e1be5c274d8b934c6b89b23e46c2 100644
--- a/dmp/my_sol/run_dmp.py
+++ b/dmp/my_sol/run_dmp.py
@@ -10,26 +10,22 @@ import os
 import time
 import signal
 import matplotlib.pyplot as plt
+import sys
+import copy
+sys.path.insert(0, '../../util')
+from give_me_the_calibrated_model import get_model
 
-# TODO 
-# add scaling (point of albin's paper)
-# generate this from other trajectories
-
-
-#urdf_path_relative = "../../robot_descriptions/urdf/ur5e_with_robotiq_hande.urdf"
-#urdf_path_absolute = os.path.abspath(urdf_path_relative)
-#mesh_dir = "../../robot_descriptions/"
-#mesh_dir_absolute = os.path.abspath(mesh_dir)
-##print(mesh_dir_absolute)
-#model = pin.buildModelFromUrdf(urdf_path_absolute)
-##print(model)
-#data = pin.Data(model)
-##print(data)
+urdf_path_relative = "../../robot_descriptions/urdf/ur5e_with_robotiq_hande.urdf"
+urdf_path_absolute = os.path.abspath(urdf_path_relative)
+mesh_dir = "../../robot_descriptions/"
+mesh_dir_absolute = os.path.abspath(mesh_dir)
+model, data = get_model(urdf_path_absolute, mesh_dir_absolute)
 
 rtde_control = RTDEControl("192.168.1.102")
 rtde_receive = RTDEReceive("192.168.1.102")
 rtde_io = RTDEIOInterface("192.168.1.102")
-rtde_io.setSpeedSlider(0.2)
+# on scale from 0 to 1
+rtde_io.setSpeedSlider(0.7)
 
 # run if marker isn't gripped
 #gripper = RobotiqGripper()
@@ -48,10 +44,10 @@ dmp_poss = np.zeros((N_ITER, 6))
 dqs = np.zeros((N_ITER, 6))
 dmp_vels = np.zeros((N_ITER, 6))
 
+
 def handler(signum, frame):
     print('sending 100 speedjs full of zeros')
     for i in range(100):
-        rtde_control.endFreedriveMode()
         vel_cmd = np.zeros(6)
         rtde_control.speedJ(vel_cmd, 0.1, 1.0 / 500)
 
@@ -82,6 +78,9 @@ def handler(signum, frame):
 
 signal.signal(signal.SIGINT, handler)
 dmp = DMP()
+current_pose = rtde_receive.getActualTCPPose()
+current_pose[2] = current_pose[2] + 0.03
+rtde_control.moveL(current_pose)
 rtde_control.moveJ(dmp.pos.reshape((6,)))
 # TODO check that you're there instead of a sleep
 #t.sleep(3)
@@ -91,11 +90,26 @@ update_rate = 500
 dt = 1.0 / update_rate
 JOINT_ID = 6
 
+task_frame = [0, 0, 0, 0, 0, 0]
+# these are in {0,1} and select which task frame direction compliance is active in
+# just be soft everywhere
+selection_vector = [1, 1, 1, 1, 1, 1]
+# the wrench applied to the environment: 
+# position is adjusted to achieve the specified wrench
+# let's pretend speedjs are this and see what happens (idk honestly)
+wrench = [0, 0, 0, 0, 0, 0]
+ftype = 2
+# limits for:
+# - compliant axes: highest tcp velocities allowed on compliant axes
+# - non-compliant axes: maximum tcp position error compared to the program (which prg,
+#                       and where is this set?)
+# why these values?
+limits = [2, 2, 2, 2, 2, 2]
 
 # parameters from yaml config file in albin's repo
 kp = 2
-#acceleration = 1.7
-acceleration = 0.5
+acceleration = 1.7
+#acceleration = 0.5
 
 if not TEMPORAL_COUPLING:
     tc = NoTC()
@@ -109,6 +123,11 @@ else:
     a_max = np.ones(6) * 1.7
     tc = TCVelAccConstrained(gamma_nominal, gamma_a, v_max, a_max, eps)
 
+# TODO: check sign!
+alpha = 0.003
+# lame hack for the current orientation (which it doesn't change so it's ok)
+wrench_offset = np.array([-1.07988, -1.407225, -2.63069, 0.071115, -0.0487768, 0.089271])
+wrench_avg = np.zeros((5,6))
 
 print("starting the trajectory")
 for i in range(N_ITER):
@@ -118,16 +137,36 @@ for i in range(N_ITER):
     # temporal coupling
     tau = dmp.tau + tc.update(dmp, dt) * dt
     dmp.set_tau(tau)
-    q = np.array(rtde_receive.getActualQ())
-    dq = np.array(rtde_receive.getActualQd())
-    vel_cmd = dmp.vel + kp * (dmp.pos - q.reshape((6,1)))
+    q = rtde_receive.getActualQ()
+    # TODO this fucker feel the weight of the gripper, this causes bias -> fix it!
+    wrench = np.array(rtde_receive.getActualTCPForce())
+    wrench_avg[i % 5] = wrench
+    wrench = np.average(wrench_avg, axis=0)
+    q6 = np.array(copy.deepcopy(q))
+    q.append(0.0)
+    q.append(0.0)
+    q = np.array(q)
+    pin.forwardKinematics(model, data, q)
+    J = pin.computeJointJacobian(model, data, q, JOINT_ID)
+    dq = np.array(rtde_receive.getActualQd()).reshape((6,1))
+    tau = J.T @ wrench
+    tau = tau[:6].reshape((6,1))
+    vel_cmd = dmp.vel + kp * (dmp.pos - q6.reshape((6,1))) - alpha * tau
     vel_cmd = vel_cmd.reshape((6,))
     vel_cmd = np.clip(vel_cmd, -1 * v_max, v_max)
     if np.isnan(vel_cmd[0]):
         break
     rtde_control.speedJ(vel_cmd, acceleration, dt)
-
-    qs[i] = q.reshape((6,))
+    # this is very stupind, but it was quick to implement
+    #vel_cmd8 = list(vel_cmd)
+    #vel_cmd8.append(0.0)
+    #vel_cmd8.append(0.0)
+    #vel_cmd8 = np.array(vel_cmd8)
+    #vel_tcp = J @ vel_cmd8
+    #vel_tcp = vel_tcp * 10
+    #rtde_control.forceMode(task_frame, selection_vector, vel_tcp, ftype, limits)
+
+    qs[i] = q6.reshape((6,))
     dmp_poss[i] = dmp.pos.reshape((6,))
     dqs[i] = dq.reshape((6,))
     dmp_vels[i] = dmp.vel.reshape((6,))
diff --git a/dmp/notes.md b/dmp/notes.md
index d623781255144169f87aa81f10c3951c548932db..aeb3bfa15ada961675be7cae16a97ab45dd51361 100644
--- a/dmp/notes.md
+++ b/dmp/notes.md
@@ -9,13 +9,14 @@ covers everything reasonably.
 you might want to look into bezier-ing the path into something smooth.
 but looks OK as is also
 
-# 3D cartesian trajectory:
+# 3D cartesian trajectory: DONE
 -------------------------
 just put your pixels onto a plane onto a predefined place with the right coordinate transform.
 ofc you have the pixel -> mm conversion and mins and maxes. whatever makes sense workspace-wise is good.
+- wrote an algorithm to automatically calibrate where the board is
 TODO: 
-- write an algorithm to automatically calibrate where the board is
-- doing anything else is asinine
+- i manually set signs of the rotation matrix rn, would be nice if this was consistent
+  (also fck rpy, but that's what i have access to)
 
 # timed joint trajectory: DONE
 -----------------------------
@@ -66,3 +67,8 @@ def compute_ctrl(self, target_state, robot_state):
 
     return vel_cmd
 ```
+
+# add some impedance to live with errors
+--------------------------------------
+- f/t readings are added and works fine for impedance
+- TODO: cancel out the gripper weight
diff --git a/dmp/todos.md b/dmp/todos.md
deleted file mode 100644
index 6ac3bb831992623388fb33de998b165b22caa598..0000000000000000000000000000000000000000
--- a/dmp/todos.md
+++ /dev/null
@@ -1,12 +0,0 @@
-# trajectory generation is in
-/home/gospodar/lund/praxis/UR traj gen
-and it's matlab
-
-# calculating the dmp from the trajectory
-is in 
-TC_DMP_constrainedVelAcc/matlab/DMP.m
-
-# running the dmp node
-TC_DMP_constrainedVelAcc/catkin_ws/src/motion_planning/nodes/dmp_node
-it's this file in the github repo
-
diff --git a/docs/Hand-E_Manual_UniversalRobots_PDF_20220114.pdf b/docs/Hand-E_Manual_UniversalRobots_PDF_20220114.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..67fef1114a433f4420353ef8f57d7d74fe9ad5c3
Binary files /dev/null and b/docs/Hand-E_Manual_UniversalRobots_PDF_20220114.pdf differ
diff --git a/docs/scriptManual-3.5.4.pdf b/docs/scriptManual-3.5.4.pdf
deleted file mode 100644
index 88ceef89c4986a8cf7ecc1701c1e3b44a03dfe7b..0000000000000000000000000000000000000000
Binary files a/docs/scriptManual-3.5.4.pdf and /dev/null differ
diff --git a/docs/scriptManual_SW5.11.pdf b/docs/scriptManual_SW5.11.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..a91d00c0ec731d65733d6d0f74705b671919b3a5
Binary files /dev/null and b/docs/scriptManual_SW5.11.pdf differ
diff --git a/util/calib_board_hacks.py b/util/calib_board_hacks.py
index ef356a4e8118cb404665aba0ead363a61209dfda..44309a46af274c95ccb8bd70a2bfdda678b35026 100644
--- a/util/calib_board_hacks.py
+++ b/util/calib_board_hacks.py
@@ -1,3 +1,9 @@
+# TODO:
+# ideally make this a continuous update process
+# where you use the previous estimate to try to hit the board at the
+# right orientation, thereby making the estimate more precise
+
+
 import pinocchio as pin
 import numpy as np
 import sys
@@ -8,6 +14,7 @@ from pinocchio.visualize import GepettoVisualizer
 import gepetto.corbaserver
 from rtde_control import RTDEControlInterface as RTDEControl
 from rtde_receive import RTDEReceiveInterface as RTDEReceive
+from rtde_io import RTDEIOInterface
 import os
 import copy
 import signal
@@ -23,6 +30,8 @@ def handler(signum, frame):
 
 rtde_control = RTDEControl("192.168.1.102")
 rtde_receive = RTDEReceive("192.168.1.102")
+rtde_io = RTDEIOInterface("192.168.1.102")
+rtde_io.setSpeedSlider(0.2)
 while not rtde_control.isConnected():
     continue
 print("connected")
@@ -46,10 +55,49 @@ new_pose = copy.deepcopy(init_pose)
 # generate 10 and try them out
 # but let's try to get it done with only 3 to begin with
 
+
+def estimate_R(positions):
+    # find the angle
+    positions = np.array(positions)
+    #print("positions")
+    #print(*positions, sep=',\n')
+    # the offset does not matter, we only need the angle
+    # i.e. the normal vector to the plane
+    n = np.linalg.lstsq(positions, np.ones(len(positions)), rcond=None)[0]
+    #print("n", *n, sep=',')
+    # normalize
+    #n = n - 1
+    n = n / np.linalg.norm(n)
+    #print("n normalized:", *n, sep=',')
+    for p in positions:
+        print("cdot", p @ n)
+    z_new = n
+    x_new = np.array([1.0, 0.0, 0.0])
+    y_new = np.cross(x_new, z_new)
+    # just fix the signs idc
+    y_new[0] = np.abs(y_new[0])
+    y_new[1] = np.abs(y_new[1]) * -1
+    y_new[2] = np.abs(y_new[2]) * -1
+    z_new[0] = np.abs(z_new[0])
+    z_new[1] = np.abs(z_new[1])
+    z_new[2] = np.abs(z_new[2]) * -1
+    # y is good tho
+    R = np.hstack((x_new.reshape((3,1)), y_new.reshape((3,1))))
+    R = np.hstack((R, z_new.reshape((3,1))))
+
+    print('rot mat to new frame:')
+    print(*R, sep=',\n')
+
+    return R
+
 # TODO change this, i just shoved the pen through the board
-speed = [0, 0, -0.5, 0, 0, 0]
-n_tests = 5
+speed = [0, 0, -0.3, 0, 0, 0]
+n_tests = 10
 positions = []
+R = np.array([[1.,         0.,         0.03236534],
+[ 0.,         -0.82404727,  0.56559577],
+[ 0. ,        -0.56559577, -0.82404727]])
+
 for i in range(n_tests):
     rtde_control.moveUntilContact(speed)
     q = rtde_receive.getActualQ()
@@ -67,6 +115,18 @@ for i in range(n_tests):
         new_pose[0] = init_pose[0] + np.random.random() * 0.3
         new_pose[1] = init_pose[1] - np.random.random() * 0.2
         rtde_control.moveL(new_pose)
+        # fix orientation
+        rpy = pin.rpy.matrixToRpy(R)
+        print("rpy", rpy)
+        if rpy[0] > 0.0:
+            rpy[0] = rpy[0] - 2*np.pi
+        # who knows if this is ok
+        new_pose[3] = rpy[0]
+        new_pose[4] = rpy[1]
+        new_pose[5] = rpy[2]
+        rtde_control.moveL(new_pose)
+    R = estimate_R(positions)
+        
 
 current_pose = rtde_receive.getActualTCPPose()
 new_pose = copy.deepcopy(current_pose)
@@ -74,36 +134,4 @@ new_pose[2] = init_pose[2]
 rtde_control.moveL(new_pose)
 rtde_control.moveL(init_pose)
 
-# find the angle
-positions = np.array(positions)
-
-
-print("positions")
-print(*positions, sep=',\n')
-# the offset does not matter, we only need the angle
-# i.e. the normal vector to the plane
-n = np.linalg.lstsq(positions, np.ones(len(positions)), rcond=None)[0]
-print("n", *n, sep=',')
-# normalize
-#n = n - 1
-n = n / np.linalg.norm(n)
-print("n normalized:", *n, sep=',')
-for p in positions:
-    print("cdot", p @ n)
-z_new = n
-x_new = np.array([1.0, 0.0, 0.0])
-y_new = np.cross(x_new, z_new)
-# it just is
-z_new = z_new * -1
-# y is good tho
-R = np.hstack((x_new.reshape((3,1)), y_new.reshape((3,1))))
-R = np.hstack((R, z_new.reshape((3,1))))
-
-print('rot mat to new frame:')
-print(*R, sep=',\n')
-# question now is in what f-ing frame is this n in
-# has to be base frame because that's where the position numbers are from
-# so
-# rot @ np.eye(3) = n
-# but n is one vector
-# keep x where it was?, make y complete the frame?
+
diff --git a/util/currents.png b/util/currents.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a4fea5032cdd1a62ab74d541cc002aa20db59fa
Binary files /dev/null and b/util/currents.png differ
diff --git a/util/freedrive.py b/util/freedrive.py
index e2f1b8ccd737f2fb29a5dc59e1e6ec08084f64bf..307069d87d69fc612b04b50e621e975f746373b7 100644
--- a/util/freedrive.py
+++ b/util/freedrive.py
@@ -1,7 +1,8 @@
 import numpy as np
 import time
-from rtde_control import RTDEControlInterface as RTDEControl
-from rtde_receive import RTDEReceiveInterface as RTDEReceive
+from rtde_control import RTDEControlInterface
+from rtde_receive import RTDEReceiveInterface
+from rtde_io import RTDEIOInterface
 import os
 import copy
 import signal
@@ -12,8 +13,10 @@ def handler(signum, frame):
     exit()
 
 
-rtde_control = RTDEControl("192.168.1.102")
-rtde_receive = RTDEReceive("192.168.1.102")
+rtde_control = RTDEControlInterface("192.168.1.102")
+rtde_receive = RTDEReceiveInterface("192.168.1.102")
+rtde_io = RTDEIOInterface("192.168.1.102")
+rtde_io.setSpeedSlider(0.2)
 while not rtde_control.isConnected():
     continue
 print("connected")
diff --git a/util/ft_readings.py b/util/ft_readings.py
new file mode 100644
index 0000000000000000000000000000000000000000..b721486d6b3028065fc66d424e5fe4f402875ebf
--- /dev/null
+++ b/util/ft_readings.py
@@ -0,0 +1,91 @@
+import pinocchio as pin
+import numpy as np
+import matplotlib.pyplot as plt
+import sys
+import os
+from os.path import dirname, join, abspath
+import time
+from pinocchio.visualize import GepettoVisualizer
+import gepetto.corbaserver
+from rtde_control import RTDEControlInterface
+from rtde_receive import RTDEReceiveInterface
+import os
+import copy
+import signal
+from give_me_the_calibrated_model import get_model
+
+def handler(signum, frame):
+    print('i will end freedrive and exit')
+    rtde_control.endFreedriveMode()
+    exit()
+
+
+rtde_control = RTDEControlInterface("192.168.1.102")
+rtde_receive = RTDEReceiveInterface("192.168.1.102")
+while not rtde_control.isConnected():
+    continue
+print("connected")
+print("payload", rtde_receive.getPayload())
+print("payload cog", rtde_receive.getPayloadCog())
+print("payload ixx, iyy, izz, angular", rtde_receive.getPayloadInertia())
+#exit()
+
+signal.signal(signal.SIGINT, handler)
+
+urdf_path_relative = "../robot_descriptions/urdf/ur5e_with_robotiq_hande.urdf"
+urdf_path_absolute = os.path.abspath(urdf_path_relative)
+mesh_dir = "../robot_descriptions/"
+mesh_dir_absolute = os.path.abspath(mesh_dir)
+model, data = get_model(urdf_path_absolute, mesh_dir_absolute)
+ft_readings = []
+dt = 1/500
+#while True:
+for i in range(5000):
+    start = time.time()
+    q = rtde_receive.getActualQ()
+    ft = rtde_receive.getActualTCPForce()
+    tau = rtde_control.getJointTorques()
+    current = rtde_receive.getActualCurrent()
+    #print("current", current)
+    #print("getActualTCPForce", ft)
+    #print("tau", tau)
+    ft_readings.append(ft)
+    end = time.time()
+    diff = end - start
+    if diff < dt:
+        time.sleep(dt - diff)
+
+ft_readings = np.array(ft_readings)
+time = np.arange(len(ft_readings))
+plt.title('fts')
+ax = plt.subplot(231)
+ax.plot(time, ft_readings[:,0])
+ax = plt.subplot(232)
+ax.plot(time, ft_readings[:,1])
+ax = plt.subplot(233)
+ax.plot(time, ft_readings[:,2])
+ax = plt.subplot(234)
+ax.plot(time, ft_readings[:,3])
+ax = plt.subplot(235)
+ax.plot(time, ft_readings[:,4])
+ax = plt.subplot(236)
+ax.plot(time, ft_readings[:,5])
+plt.savefig('fts.png', dpi=600)
+plt.show()
+#    ft = rtde_receive.getFtRawWrench()
+#    print("getFtRawWrench", ft)
+#    print("payload inertia", rtde_receive.getPayloadInertia())
+#    print("momentum", rtde_receive.getActualMomentum())
+#    print("target qdd", rtde_receive.getTargetQdd())
+#    print("robot_current", rtde_receive.getActualRobotCurrent())
+#    print("joint_voltage", rtde_receive.getActualJointVoltage())
+#    print("robot_voltage", rtde_receive.getActualRobotVoltage())
+#    print("getSafetyMode", rtde_receive.getSafetyMode())
+#    print("tool_accelerometer", rtde_receive.getActualToolAccelerometer())
+#    q.append(0.0)
+#    q.append(0.0)
+#    pin.forwardKinematics(model, data, np.array(q))
+#    print(data.oMi[6])
+#    print("pin:", *data.oMi[6].translation.round(4), *pin.rpy.matrixToRpy(data.oMi[6].rotation).round(4))
+#    print("ur5:", *np.array(rtde_receive.getActualTCPPose()).round(4))
+#    time.sleep(0.005)
diff --git a/util/fts.png b/util/fts.png
new file mode 100644
index 0000000000000000000000000000000000000000..c425e6ad19ac9d6f16c5d123919944483f2561e2
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diff --git a/util/taus.png b/util/taus.png
new file mode 100644
index 0000000000000000000000000000000000000000..a57b5f8bd24aea364b12c3a553bcb607651c3db5
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