diff --git a/dmp/my_sol/drawing_gen/cliking_the_path.py b/dmp/my_sol/drawing_gen/cliking_the_path.py
index d0b4e926c5fdf68bc9192f64b4bcdbd1d16197e3..815d1d8eb6d57bcba2155363dc5455b33143bcec 100644
--- a/dmp/my_sol/drawing_gen/cliking_the_path.py
+++ b/dmp/my_sol/drawing_gen/cliking_the_path.py
@@ -74,7 +74,7 @@ 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, -0.0948])
 
 #path = path + np.array([0.0, 0.2, -0.1438])
 for i in range(len(path)):
diff --git a/dmp/my_sol/drawing_gen/path_in_pixels.csv b/dmp/my_sol/drawing_gen/path_in_pixels.csv
index 2b2f9c6b30775c93e4fc2ebcbeb5d170893eb005..5fc15288ede42225c2d8fdde77768ffaa94c151a 100644
--- a/dmp/my_sol/drawing_gen/path_in_pixels.csv
+++ b/dmp/my_sol/drawing_gen/path_in_pixels.csv
@@ -1,62 +1,153 @@
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diff --git a/dmp/my_sol/new_traj.csv b/dmp/my_sol/new_traj.csv
index e237258e2a55eeca04e27c386bc7e1b7826d8054..8633950a7288ffd26b208e106f4462a5fd049606 100644
--- a/dmp/my_sol/new_traj.csv
+++ b/dmp/my_sol/new_traj.csv
@@ -1,241 +1,242 @@
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diff --git a/dmp/my_sol/run_dmp.py b/dmp/my_sol/run_dmp.py
index be774e58af25b8e02c40a990de8fdc460e8f7154..6afd09252af1c5e314b1ec5438b5e9d8257a33c3 100644
--- a/dmp/my_sol/run_dmp.py
+++ b/dmp/my_sol/run_dmp.py
@@ -10,25 +10,21 @@ 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")
+# on scale from 0 to 1
 rtde_io.setSpeedSlider(0.2)
 
 # run if marker isn't gripped
@@ -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] + 0.1
+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)
@@ -91,6 +90,21 @@ 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
@@ -109,6 +123,10 @@ else:
     a_max = np.ones(6) * 1.7
     tc = TCVelAccConstrained(gamma_nominal, gamma_a, v_max, a_max, eps)
 
+# TODO: check sign!
+alpha = 0.1
+# 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])
 
 print("starting the trajectory")
 for i in range(N_ITER):
@@ -118,16 +136,35 @@ 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 = wrench - wrench_offset
+    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/util/ft_readings.py b/util/ft_readings.py
new file mode 100644
index 0000000000000000000000000000000000000000..cdb288cbd8c7ac7b49c764134f022939580cee52
--- /dev/null
+++ b/util/ft_readings.py
@@ -0,0 +1,46 @@
+import pinocchio as pin
+import numpy as np
+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 as RTDEControl
+from rtde_receive import RTDEReceiveInterface as RTDEReceive
+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 = RTDEControl("192.168.1.102")
+rtde_receive = RTDEReceive("192.168.1.102")
+while not rtde_control.isConnected():
+    continue
+print("connected")
+
+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)
+
+while True:
+    q = rtde_receive.getActualQ()
+    ft = rtde_receive.getActualTCPForce()
+    print(ft)
+#    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)